In minimally invasive surgery, needle is one of the most common devices that used to conduct different diagnosis and treatment tasks. In this paper, coordinates of articulated needle while being steered are studied. After analyzing bending directions, a simplified model of articulated needle is established. Accordingly, formulas for calculating the coordinates of important points in an articulated needle are got in both two dimensional and three dimensional spaces. By providing a theoretical basis for the steering of an articulated needle, its navigation accuracy can be improved.
Endoscopy and minimally invasive surgery in the diagnosis and treatment of precancerous diseases and cancer of the stomach in the early stages