Background: Needle insertion is one of the most popular procedures in minimally invasive surgery
(intervention). In order to improve the precision and automatization of the intervention, robot assisted surgery
system has been extensively studied. Needle insertion mechanisms are one of the essential parts in the robot assisted
Objective: By analyzing the existed needle insertion mechanisms, we can conclude the common considerations
and characteristics in structural design of the needle insertion mechanism.
Method: The recent typical needle insertion mechanisms are divided into two sorts (rigid needle insertion
mechanisms and flexible needle insertion mechanisms) according to the types of interventional needles, and are
analyzed with advantages and disadvantages, respectively.
Results: The common considerations and characteristics of the structural design were concluded based on the
analysis of different needle insertion mechanisms, which is beneficial for the structural design of the needle insertion
Conclusion: In this paper, several recent patents of representative needle insertion mechanism have been summarized
and analyzed, and both the advantages and the main problems have been pointed. Based on these, the
development prospects of the needle insertion mechanism were explored for the robot assisted surgery.