| Summary: | The insertion of a needle into soft inhomogeneous tissue is required for many medical procedures. It has been shown that vibratory needle insertion methods have the ability to reduce insertion forces, which are correlated with increased needle placement precision, and reduced frequency and intensity of pain and trauma felt. This paper reviews different vibratory needle insertion methods that have been studied experimentally, addressing vibration generation, vibration frequency and amplitude, and force measurement. Reductions of up to 73 % in peak insertion force (150 Hz), and 37 % in placement error (15 Hz) were reported. Additionally, ultrasonic vibration (84 kHz) reduced the force by up to 28 %. The results of vibratory insertion show promise, specifically in regard to automated needle devices.
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