Development and validation of a numerical model for cross-section optimization of a multi-part probe for soft tissue intervention

Frasson, L.; Neubert, Jeremiah; Reina, S.; Oldfield, Matthew; Davies, Brian; Baena, Ferdinando Rodriguez y

doi:10.1109/iembs.2010.5627409

Cited by 6 publications

(7 citation statements)

References 6 publications

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“…Experiments in 4.5%wt gelatin showed the capability of steering in 3D with a mean positional error of 0.46 mm and an approach angle error of 1.05 • . Similar steerable probe designs consisting of four parallel needle segments with a focus on the cross-section geometry [110], [111], on the composite body structure, on the control system for steering [94], [112], [113], on 3D steering [114], on the probe-tissue interaction [115], or on the integration with a laser Doppler system [116] have also been reported.…”

Section: B Wasp-inspired Steerable and Self-propelling Needlesmentioning

confidence: 93%

The Role of Insects in Medical Engineering and Bionics: Towards Entomomedical Engineering

Bloemberg

Stefanini

Romano

2021

IEEE Trans. Med. Robot. Bionics

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Insects are important agents in ecosystems. Their diverseness and developed coping mechanisms also make them interesting for direct application and as a source of inspiration in medical engineering. We summarized the main contribution of insects in biomedical applications. Medical centers in North America, and Europe use fly larvae for maggot therapy to remove necrotic tissue, decrease infection risk, and improve wound healing. Ant mandibles are used as a suturing technique by African tribes and as sources of inspiration for surgical clamps. Both the mosquito fascicle and the wasp ovipositor are sources of inspiration for the design of medical needles. Herein, a new research field called "entomomedical engineering," is proposed. We define entomomedical engineering as the branch of engineering that uses insects either directly or as a source of inspiration to design and develop medical treatments or instruments. In addition, we want to emphasize the importance of preserving insects because of their function in the ecosystem, medicine, and medical engineering.

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Section: B Wasp-inspired Steerable and Self-propelling Needlesmentioning

confidence: 93%

The Role of Insects in Medical Engineering and Bionics: Towards Entomomedical Engineering

Bloemberg

Stefanini

Romano

2021

IEEE Trans. Med. Robot. Bionics

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“…A direct technical analogue of the wasp ovipositor would be a needle consisting of four wedge-shaped sections arranged in such a way that altogether they form a circle. However, manufacturing long and wellaligned wedge-shaped sections in small dimensions is technically challenging [46]. One way to bypass this issue is by reasoning that the wedge-shaped sections can be approximated by a set of cylindrical sections arranged in such a way that altogether they approximate a circle.…”

Section: Needle Design 21 Conceptual Design 211 Shape Of Longitumentioning

confidence: 99%

“…(b) Four wedge-shaped sections (gray) that approximate the ovipositor valves interlocked by means of jigsaw-puzzle profiles (red) mimicking the olistheter. Based on [46]. (c) Simplified mechanism with seven flexible wires (gray) with a round-shape interlocking ring (red).…”

Section: Number Of Longitudinal Segmentsmentioning

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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“…PBNs are capable of 3D steering, thanks to a bevel tip and a programmable offset between the segments (Frasson et al 2010a;Ko et al 2011;Ko and Rodriguez y Baena 2013), and can do so without the need for 'duty cycling' about the needle long axis (Swaney et al 2013), which is particularly advantageous for highly compliant and delicate tissue traversal (Watts et al 2019). Over the years, successive iterations of the design and manufacturing process (Frasson et al 2010b;Leibinger et al 2014) have resulted in the current embodiment, a medical-grade pre-commercial prototype.…”

Section: Introductionmentioning

confidence: 99%

An adaptive finite element model for steerable needles

Terzano

Dini

Baena

et al. 2020

Biomech Model Mechanobiol

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Penetration of a flexible and steerable needle into a soft target material is a complex problem to be modelled, involving several mechanical challenges. In the present paper, an adaptive finite element algorithm is developed to simulate the penetration of a steerable needle in brain-like gelatine material, where the penetration path is not predetermined. The geometry of the needle tip induces asymmetric tractions along the tool-substrate frictional interfaces, generating a bending action on the needle in addition to combined normal and shear loading in the region where fracture takes place during penetration. The fracture process is described by a cohesive zone model, and the direction of crack propagation is determined by the distribution of strain energy density in the tissue surrounding the tip. Simulation results of deep needle penetration for a programmable bevel-tip needle design, where steering can be controlled by changing the offset between interlocked needle segments, are mainly discussed in terms of penetration force versus displacement along with a detailed description of the needle tip trajectories. It is shown that such results are strongly dependent on the relative stiffness of needle and tissue and on the tip offset. The simulated relationship between programmable bevel offset and needle curvature is found to be approximately linear, confirming empirical results derived experimentally in a previous work. The proposed model enables a detailed analysis of the tool-tissue interactions during needle penetration, providing a reliable means to optimise the design of surgical catheters and aid pre-operative planning.Publisher's Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

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Development and validation of a numerical model for cross-section optimization of a multi-part probe for soft tissue intervention

Cited by 6 publications

References 6 publications

The Role of Insects in Medical Engineering and Bionics: Towards Entomomedical Engineering

The Role of Insects in Medical Engineering and Bionics: Towards Entomomedical Engineering

Ovipositor-inspired steerable needle: design and preliminary experimental evaluation

An adaptive finite element model for steerable needles

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