الفهرس 
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Abstract
This thesis deals with the design and implementation of a needle control system. In addition, there is a camera that checks the image on the basis of a robot system. In many scientific studies in the medical, needle insertion is an important aspect and the simplest and most reliable method of medical and interventional procedures.
In medical procedures, a flexible needle is guided through soft tissues to reach a predetermined target position. The effectiveness of needle steering depends on careful control of the needle tip. This thesis presents a complete mechanical model for inserting a needle into soft tissues. The proposed needle insertion method depends on the reaction speed and angle as an input, which can be used to control the direction of the needle.
The design considers the length and insertion angle of the needle. Several tests were performed to insertion the needle inside tissue. As a result, the reliability of the proposed system is up to a length of 2 millimeters and an angle of 1 degree.
Although needles are used in many medical procedures, insertion reliability may be limited, due to changes in target position resulting from tissue deformation, unexpected bending of a needle during injection and obstruction of the needle path. To overcome these limitations, we enhanced a robotic system which will actively drive the needle inside the soft tissue.
The beveled tip causes the needle to be flexible during insertion and improves steering. The experimentation of needle steering robot is designed with a linear movement motor for needle insertion, angular motor for angle of needle insertion, servo motor of steering process and small linear movement motor for needle injection. Experiments were carried out and verified with images using LABVIEW software to track and determine the direction and deflection value of the needle tip. In addition, with soft tissues, experiments were performed to determine the effects of tip angle for needle tracking and insertion speed. The results show that the direction of the needle depends on the speed and the bevel angle of the tip.
Finally: It is possible to guide the needle inside the human body to reach the desired targets accurately without tissue distortion through this proposed system. Two methods of control have been used. One of them depends on the specialist to enter the value and the angle. The other one depends on LABVIEW program to determine the desired target point with the ability to correct the path through image processing.