Abstract: A hand-held device for assisted steering of a percutaneously inserted needle comprises a handle, an actuation unit, and a haptic feedback unit. A computer-implemented system calculates a needle shape and position based on one or a combination of analysis of ultrasound images and determination of needle insertion parameters based on electronic signals generated by a sensor unit. The system calculates a correction to a needle insertion parameter to achieve a target needle trajectory, including a correction to a needle axial rotation. The system activates the actuation unit to rotate the needle in accordance with the correction to the needle axial rotation, and activates to the haptic feedback unit to vibrate the handle in a vibration pattern determined by a rules database depending on one or a combination of the calculated needle shape, the calculated needle position, and the correction to the needle insertion parameter.

Abstract: Actuator for a force feedback interface comprising a shaft integral in rotation with an interacting member of said interface, an electric motor driving in rotation the shaft (3) in a clockwise direction and in an anti-clockwise direction, a first free-wheel device (4) mounted on the shaft (3) and a first braking system (8) capable of braking the rotation of the shaft (3) by the intermediary of the free-wheel device (8), a second free-wheel device (6) mounted on the shaft (3) in opposition with respect to the first free-wheel device (4), a second braking system (10) capable of braking the rotation of the shaft (3) by the intermediary of the second free-wheel device (6) in a direction opposite that of the first braking system (8). The motor is able to apply an active load to the shaft (3) in the direction opposite that of the braking force.