Design Choices in Needle Steering—A Review

Berg, Nick J. van de; Gerwen, Dennis J. van; Dankelman, Jenny; Dobbelsteen, John J. van den

doi:10.1109/tmech.2014.2365999

Cited by 104 publications

(83 citation statements)

References 69 publications

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“…Some of these newly developed needles rely on concentric axial insertion of multiple pre-bent needle parts, whereas others rely on reaction forces from the tissue to control the steering curvature (for reviews see [10,11]). One drawback of flexible needles is that the axial load applied at the back of a needle increases with resistive forces on the needle tip and shaft when penetrating deeper into the tissue.…”

Section: Percutaneous Needles: a Brief State-of-the-artmentioning

confidence: 99%

Wasp-Inspired Needle Insertion with Low Net Push Force

Sprang

Breedveld

Dodou

2016

Lecture Notes in Computer Science

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Section: Percutaneous Needles: a Brief State-of-the-artmentioning

confidence: 99%

Wasp-Inspired Needle Insertion with Low Net Push Force

Sprang

Breedveld

Dodou

2016

Lecture Notes in Computer Science

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“…Pull wires and other internal steering mechanisms can help guide rods to targets [1], [2], but usually require a widened rod diameter. One alternative is to apply magnetic fields to deflect a rod that has a permanent magnet attached near its tip [3], [4].…”

Section: Introductionmentioning

confidence: 99%

Guiding Elastic Rods With a Robot-Manipulated Magnet for Medical Applications

et al. 2017

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Magnet-tipped, elastic rods can be steered by an external magnetic field to perform surgical tasks. Such rods could be useful for a range of new medical applications because they do not require either pull wires or other bulky mechanisms that are problematic in small anatomical regions. However, current magnetic rod steering systems are large and expensive. Here, we describe a method to guide a rod using a robot-manipulated magnet located near a patient. We solve for rod deflections by combining permanent-magnet models with a Kirchhoff elastic rod model and use a resolved-rate approach to compute trajectories. Experiments show that three-dimensional trajectories can be executed accurately without feedback and that the system’s redundancy can be exploited to avoid obstacles.

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“…Needle steering is an active research field, motivated not just by a desire to improve current interventions, but also to increase the spatial reach of these minimally invasive instruments and thereby facilitate new types of treatments (4). Conceivably, steerable RFA needles may access tumors that would otherwise be blocked by vasculature, lung tissue, or other sensitive structures (5).…”

Section: Introductionmentioning

confidence: 99%