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Updated: Jul 10, 2026

A Mechanical Construction to Enhance the Stability and Safety of Lifting and Thrusting Manipulation of Acupuncture
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Variable-Curvature Bending Characteristic and Kinematic Model of Cannula Flexible Needle

He Zhang1, Yan-Jiang Zhao1,2, Yong-De Zhang1

  • 1Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, Heilongjiang, China.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
|July 9, 2026
PubMed
Abstract

Keywords:
cannula flexible needlekinematics modelminimally invasive surgeryvariable‐curvature bending characteristic

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