Design Optimisation of a Biologically Inspired Multi-Part Probe for Soft Tissue Surgery

Frasson, L.; Reina, S.; Davies, Brian; Baena, Ferdinando Rodriguez y

doi:10.1007/978-3-642-03906-5_84

Cited by 6 publications

(10 citation statements)

References 2 publications

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“…δ prZ and δ prY are the resulting offset projections in the normal and osculating planes, and k 1 , k 2 are linear coefficients obtained by experimental calibration (mm −1 ), with a technique which is similar to that presented in [16]. ω y , ω z are defined as projections of the rate of change in steering angle onto the normal and osculating planes:…”

Section: D Kinematic Modelingmentioning

confidence: 99%

Closed-loop 3D motion modeling and control of a steerable needle for soft tissue surgery

Secoli

Baena

2013

2013 IEEE International Conference on Robotics and Automation

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Percutaneous intervention has become a topic of interest in recent years, due to the many potential advantages for the patient. To date, several novel needle steering systems have been developed to improve both the accuracy and applicability of this type of surgery, but many of these can still only provide limited control of the trajectory between an entry site and a deep seated target. Our previous work describes the first prototype of a bio-inspired multi-part needle, codenamed STING, which can steer along planar trajectories within a compliant medium by means of a novel programmable bevel, where the steering angle is a function of the offset between interlocked needle segments. This paper presents our first attempt to model a bio-inspired 4-part needle, an extension of the planar steering system with the potential to steer along three-dimensional (3D) trajectories within a compliant medium. This paper introduces a 3D kinematic model and closed-loop controller for the needle, which is inspired by the modeling strategy employed for under-actuated underwater vehicles, followed by simulation results which demonstrate that 3D trajectory tracking can be completed successfully.

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Section: D Kinematic Modelingmentioning

confidence: 99%

Closed-loop 3D motion modeling and control of a steerable needle for soft tissue surgery

Secoli

Baena

2013

2013 IEEE International Conference on Robotics and Automation

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Section: A a Flexible Probe Inspired By Ovipositing Waspsmentioning

confidence: 99%

“…7 shows the overall block diagram of the closed-loop steering algorithm developed for the flexible probe. It has two main control loops: the local PID position controller for each probe segment and the steering controller, which implements trajectory following and consists of the feed-forward term (16), and the feedback term (22). In this research, the forward motion velocity (v 1 ) and the rate of change of steering offset (v 2 ) are arbitrarily defined as the average speed and the differential speed of the two steering segments (S 3 , S 1 ) respectively, as follows:…”

Section: Definition Of Sensor-specific Coordinates and Relationsmentioning

confidence: 99%

“…[18]. This paper describes the design, implementation and control of a flexible multi-part probe inspired by the ovipositor, or egg-laying channel, of certain insects, the foundations for which have previously been published [19][20][21][22]. The probe, which is composed of four interlocked probe segments, is able to alter its direction by means of a "programmable bevel tip", which is described here, alongside the development of a control strategy to drive the probe along planar trajectories within a compliant medium (gelatin).…”

Section: Introductionmentioning

confidence: 99%

“…1-4 mm OD) would be required for clinical deployment. However, ongoing work on the miniaturization the probe, the optimization of the probe's interlocking mechanism [22] and the modeling of the probe-tissue interaction forces [28], is expected to facilitate its applicability in the near future.A unique feature of the design centers upon the relationship between the offset between interlocked probe segments and the steering angle of the probe, or "programmable bevel" concept, which provides the foundations for the control strategy described in this work. …”

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Closed-Loop Planar Motion Control of a Steerable Probe With a “Programmable Bevel” Inspired by Nature

2011

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Abstract-Percutaneous intervention has attracted significant interest in recent years, but many of today's needles and catheters can only provide limited control of the trajectory between an entry site and soft tissue target. In order to address this fundamental shortcoming in minimally invasive surgery, we describe the first prototype of a bio-inspired multi-part probe able to steer along planar trajectories within a compliant medium by means of a novel "programmable bevel", where the steering angle becomes a function of the offset between interlocked probe segments. A kinematic model of the flexible probe and programmable bevel arrangement is derived. Several parameters of the kinematic model are then calibrated experimentally with a fully functional scaled-up prototype, which is 12 mm in diameter. A closed-loop control strategy with feed-forward and feedback components is then derived and implemented in vitro using an approximate linearization strategy first developed for car-like robots. Experimental results demonstrate satisfactory twodimensional trajectory following of the prototype (0.68 mm tracking error, with 1.45 mm STD) using an electromagnetic position sensor embedded at the tip of the probe.Index Terms-Biologically inspired robots, closed-loop control, medical robots and systems, needle steering, nonholonomic motion planning I. INTRODUCTIONERCUTANEOUS intervention has always attracted significant interest because it is performed through the skin and, as such, it has several advantages for the patient [1]. Tumor biopsy, brachytherapy, deep brain stimulation and localized drug delivery, for instance, benefit from this operative technique to reduce tissue trauma and hospitalization time.In order to localize a lesion, preoperative planning using Computer Tomography (CT) or Magnetic Resonance (MR) Manuscript received May 14, 2010. This work was supported by the EU-FP7 Project ROBOCAST (FP7-ICT-215190) and has also received funding from the European Research Council under the European Union's Seventh Framework Programme (FP7/2007(FP7/ -2013 / ERC grant agreement n° [258642-STING].S. Y. Ko and L. Frasson are with Department of Mechanical Engineering, Imperial College London, SW7 2AZ, UK (e-mail: s.ko@imperial.ac.uk, luca.frasson07@imperial.ac.uk).F. Rodriguez y Baena is with Department of Mechanical Engineering and the Institute of Biomedical Engineering, Imperial College London, SW7 2AZ, UK (corresponding author to provide phone: +44-(0)20-7594-7046; fax: +44-(0)20-7594-1472; e-mail: f.rodriguez@imperial.ac.uk).images is often necessary. If the lesion is reachable through a straight path, a straight rigid needle can be used. For a safe operation, the location of the needle tip can be monitored by means of external markers mounted on the proximal end of the needle by relying on the fixed geometrical relationship between the base and needle point.Recently, there have been efforts to introduce steerable needles in percutaneous interventions where a straight path does not seem possible or is not safe. Steerab...

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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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Design Optimisation of a Biologically Inspired Multi-Part Probe for Soft Tissue Surgery

Cited by 6 publications

References 2 publications

Closed-loop 3D motion modeling and control of a steerable needle for soft tissue surgery

Closed-loop 3D motion modeling and control of a steerable needle for soft tissue surgery

Closed-Loop Planar Motion Control of a Steerable Probe With a “Programmable Bevel” Inspired by Nature

Ovipositor-inspired steerable needle: design and preliminary experimental evaluation

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