Concurrently bendable and rotatable continuum tubular robot for omnidirectional multi-core transurethral prostate biopsy.

A transurethral prostate biopsy device is proposed in this paper, which can shoot a biopsy needle at different angles to take samples from multiple locations within the prostate. Firstly, the traditional prostate biopsy methods, including transrectal prostate biopsy and transperineal prostate biopsy, are introduced and compared. Then, the working principles of the new prostate biopsy procedure are illustrated. The designs of the needle bending system and the flexible needle are presented, and a proofs-of-concept study of the robotic biopsy device is demonstrated. Design parameters, material selection, and control unit are introduced. Experiments are carried out to test and demonstrate the functions of the prototype. Theoretical and measured bending angles are compared and analyzed. The bending system can effectively bend the biopsy needle to any angle between 15 and 45°. The penetration force of the biopsy needle decreases with the increase of the bending angle. The range of rotation of the bending system on one hemisphere is ±25°. Together with the translational motion, the biopsy needle can reach any point within the workspace. Finally, a phantom test and a cadaver experiment were carried out to simulate biopsy.