Table 1.

The article group of the survey, reflecting the correlation for the related topics.

Group	Topic	References
G1	Methods of needle insertion force modeling	[4,12,14,15,17,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59]
G2	Needle insertion force measurement	[12,15,16,27,28,29,40,41,43,45,46,50,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111]
G3	Influence factor of needle insertion force	[5,25,27,28,40,42,43,44,49,66,67,68,69,74,75,76,78,79,90,92,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139]
G4	Parameter identification for needle insertion force control	[15,19,22,23,27,29,46,53,55,60,72,80,101,140,141,142,143,144,145,146,147,148,149,150]
G5	Robot-assisted needle insertion force control	[13,17,18,20,21,65,81,102,104,151,152,153,154,155,156,157,158,159,160,161,162]