A Novel Discretely Actuated Steerable Probe for Percutaneous Procedures

Ayvali, Elif; Ho, Mingyen; Desai, Jaydev P.

doi:10.1007/978-3-642-28572-1_8

Cited by 9 publications

(6 citation statements)

References 13 publications

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“…SMA actuators, which are increasingly used in robotics and medical device applications 8,9 , are typically actuated by electrical Joule heating 10 . There can be, however, depending on the application, significant advantage in optical actuation 6,7,11,12 such as the provision of MRI-compatibility} 6, 7, 12 and the facility for precise laser control.…”

Section: Sma Operationmentioning

confidence: 99%

Characterization of optically actuated MRI-compatible active needles for medical interventions

et al. 2014

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The development of a Magnetic Resonance Imaging (MRI) compatible optically-actuated active needle for guided percutaneous surgery and biopsy procedures is described. Electrically passive MRI-compatible actuation in the small diameter needle is provided by non-magnetic materials including a shape memory alloy (SMA) subject to precise fiber laser operation that can be from a remote (e.g., MRI control room) location. Characterization and optimization of the needle is facilitated using optical fiber Bragg grating (FBG) temperature sensors arrays. Active bending of the needle during insertion allows the needle to be accurately guided to even relatively small targets in an organ while avoiding obstacles and overcoming undesirable deviations away from the planned path due to unforeseen or unknowable tissue interactions. This feature makes the needle especially suitable for use in image-guided surgical procedures (ranging from MRI to CT and ultrasound) when accurate targeting is imperative for good treatment outcomes. Such interventions include reaching small tumors in biopsies, delineating freezing areas in, for example, cryosurgery and improving the accuracy of seed placement in brachytherapy. Particularly relevant are prostate procedures, which may be subject to pubic arch interference. Combining diagnostic imaging and actuation assisted biopsy into one treatment can obviate the need for a second exam for guided biopsy, shorten overall procedure times (thus increasing operating room efficiencies), address healthcare reimbursement constraints and, most importantly, improve patient comfort and clinical outcomes.

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Section: Sma Operationmentioning

confidence: 99%

Characterization of optically actuated MRI-compatible active needles for medical interventions

et al. 2014

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“…Adebar et al [26] used Nitinol pull wires and a miniaturized cable pulley to actuate a flexural conical tip. Shape-memory or pseudoelastic materials have also been used as actuation means for needle steering [27,28]. For example, Ayvali et al [27] described a needle made out of segments interconnected by shape memory alloy wires that deflect in response to Joule heating.…”

Section: Steerable Needle Mechanismmentioning

confidence: 99%

“…Shape-memory or pseudoelastic materials have also been used as actuation means for needle steering [27,28]. For example, Ayvali et al [27] described a needle made out of segments interconnected by shape memory alloy wires that deflect in response to Joule heating. Konh et al [28] used an SMA-wire to connect the body of the needle with a bevel-tip.…”

Section: Steerable Needle Mechanismmentioning

confidence: 99%

Ovipositor-inspired steerable needle: design and preliminary experimental evaluation

et al. 2017

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Flexible steerable needles have the potential to allow surgeons to reach deep targets inside the human body with higher accuracy than rigid needles do. Furthermore, by maneuvering around critical anatomical structures, steerable needles could limit the risk of tissue damage. However, the design of a thin needle (e.g. diameter under 2 mm) with a multi-direction steering mechanism is challenging. The goal of this paper is to outline the design and experimental evaluation of a biologically inspired needle with a diameter under 2 mm that advances through straight and curved trajectories in a soft substrate without being pushed, without buckling, and without the need of axial rotation. The needle design, inspired by the ovipositor of parasitoid wasps, consisted of seven nickel titanium wires and had a total diameter of 1.2 mm. The motion of the needle was tested in gelatin phantoms. Forward motion of the needle was evaluated based on the lag between the actual and the desired insertion depth of the needle. Steering was evaluated based on the radius of curvature of a circle fitted to the needle centerline and on the ratio of the needle deflection from the straight path to the insertion depth. The needle moved forward inside the gelatin with a lag of 0.21 (single wire actuation) and 0.34 (double wire actuation) and achieved a maximum curvature of 0.0184 cmand a deflection-to-insertion ratio of 0.0778. The proposed biologically inspired needle design is a relevant step towards the development of thin needles for percutaneous interventions.

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“…The bend can be permanent and activated by tissue interaction, or temporary and activated by cables 9 or other means. 10 Increasing the tip angle of a pre-bent needle also increases the steering curvature. 11 Moreover, adding a bend to a conical 3 or beveltip needle 12 increases the steering curvature compared to a needle without a bend.…”

Section: Needle Steering Curvaturementioning

confidence: 99%

Design and evaluation of a wasp-inspired steerable needle

et al. 2017

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Flexible steerable needles can follow complex curved paths inside the human body. In a previous work, we developed a multiple-part steerable needle prototype with a diameter of 1.2 mm, inspired by the ovipositor of parasitoid wasps. The needle consisted of seven nickel-titanium longitudinally aligned wires held together at the tip by a cylindrical ring with seven holes. The steerability of the needle was evaluated in a gelatin phantom and was found to be lower than that of other steerable needles in the literature. One possible cause of this limited steerability is that during motion the wires tend to separate from each other (i.e., bifurcate). Our aim here was to reduce bifurcation in order to increase the steering curvature of the needle, while keeping the diameter around 1.5 mm, and thus compatible with needles used in medical practice. To achieve that, we changed the shape of the ring from cylindrical to conical. We evaluated the steering performance in gelatin, using the conical ring in two configurations: (1) with the apex of the cone towards the needle tip, so that the wires converge, thus expected to reduce bifurcation, (2) with the apex of the cone placed towards the needle base, so that the wires diverge, thus expected to magnify bifurcation. Results showed that the diverging ring generated larger steering curvatures. We can conclude that reducing the bifurcation of the wires is not enough for increasing the steering curvature and that inducing this same phenomenon instead could actually lead to higher curvatures.

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A Novel Discretely Actuated Steerable Probe for Percutaneous Procedures

Cited by 9 publications

References 13 publications

Characterization of optically actuated MRI-compatible active needles for medical interventions

Characterization of optically actuated MRI-compatible active needles for medical interventions

Ovipositor-inspired steerable needle: design and preliminary experimental evaluation

Design and evaluation of a wasp-inspired steerable needle

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