Objective: Biopsies are the gold standard for clinical diagnosis. However, a discrepancy between the biopsy sample and target tissue because of misplacement of the biopsy spoon can lead to errors in the diagnosis and subsequent treatment. Thus, correctly determining whether the needle tip is in the tumor is crucial for accurate biopsy results.
Methods: A biopsy needle system was designed with a steerable, flexible, and superelastic concentric tube; electrodes to monitor the electrical resistivity; and load cells to monitor the insertion force. The degrees of freedom were analyzed for two working modes: straight-line and deflection.
Results: Experimental results showed that the system could perceive the tissue type in online based on the electrical resistivity. In addition, changes in the insertion force indicated transitions between the interfaces of adjacent tissue layers.
Conclusion: The two monitoring methods guarantee that the biopsy spoon is at the desired position inside the tumor during an operation.
Significance: The proposed biopsy needle system can be integrated into an autonomous robotic biopsy system.