A mathematical model of a novel automated medical device for needle insertions

In medical procedures, needle insertion is a challenging task highly dependent on the surgeon's manual skills. Implanted needles are used for drug delivery, biopsy, delivery of radiation sources, etc. In the named clinical procedures, the accuracy of the needle placement is crucial for patient treatment outcomes. Therefore, we have proposed an automated medical device for needle implantation to eliminate uncertainties of the standard procedures and to increase the accuracy of the needle placement. In this article, the mathematical model of such a device has been developed. The mathematical model takes into account the needle deflection; therefore, with the adequate development of the control strategy, the deflection could be minimized using predictive or adaptive controllers.