Observations of three-dimensional needle deflection during insertion into soft tissue

Jahya, Alex; Heijden, Ferdinand van der; Misra, Sarthak

doi:10.1109/biorob.2012.6290756

Cited by 15 publications

(13 citation statements)

References 27 publications

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“…This phenomenon is likely to have been caused by the weight of the interlocking ring. Jahya et al 30 also reported such an 'out of plane' deflection and showed that this phenomenon increases with the degree of bevel angle. Fourth, real-time control of the motors actuation was not possible, since the settings were chosen and loaded every time before the start of each test.…”

Section: Discussionmentioning

confidence: 94%

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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Section: Discussionmentioning

confidence: 94%

Design and evaluation of a wasp-inspired steerable needle

et al. 2017

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“…. n. The unknown coefficients a k,i are calculated by solving the system of equations obtained in (20). The deflected needle shape is calculated by substituting the coefficients back into (17) and (18).…”

Section: B Mechanics-based Modelmentioning

confidence: 99%

“…The reconstructed needle shapes are compared to tip positions that are tracked using a set of CCD cameras [20]. The deflections for Cases IV and V are shown in Fig.…”

Section: B Needle Insertion Into Gelatine Phantomsmentioning

confidence: 99%

Three-Dimensional Needle Shape Reconstruction Using an Array of Fiber Bragg Grating Sensors

Roesthuis

Kemp²,

Dobbelsteen

et al. 2014

IEEE/ASME Trans. Mechatron.

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236

151

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We present a prototype of a flexible nitinol needle (φ 1.0 mm and length 172 mm) integrated with an array of 12 Fiber Bragg Grating (FBG) sensors. These sensors measure the axial strain, which enables the computation of the needle curvature. We reconstruct the three-dimensional (3-D) needle shape from the curvature. Experiments are performed where the needle is deflected in free space. The maximum errors between the experiments and beam theory-based model are 0.20 mm (in-plane deflection with single bend), 0.51 mm (in-plane deflection with double bend), and 1.66 mm (out-of-plane). We also describe kinematics-based and mechanics-based models for predicting the 3-D needle shape during insertion into soft tissue. We perform experiments where the needle is inserted into a soft-tissue simulant, and the 3-D needle shape is reconstructed using the FBG sensors. We compare the reconstructed needle shape to deflection obtained from camera images and our models. The maximum error between the experiments and the camera images is 0.74 mm. The maximum errors between the kinematics-based and mechanics-based models and the camera images are 3.77 mm and 2.20 mm, respectively. This study demonstrates that deflection models and needles integrated with FBG sensors have the potential to be used in combination with clinical imaging modalities in order to enable accurate needle steering.

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“…Also, the tip of the needle is not symmetrical, so forces acting on the tip will be uneven, consequently resulting in bending of the needle in the body during insertion. 9,10 The bending can cause inaccuracy in the needle placement, and consequently, the needle tip may miss pathological tissue and result in misdiagnosis. 11 Additionally, if one considers small breast lesions, for example, during biopsy the target may move significantly as the needle indents and punctures the skin and successive tissue layers.…”

Section: Background To the Development Of Soft Photoelastic Materialsmentioning

confidence: 99%

Photoelastic materials and methods for tissue biomechanics applications

Tomlinson

Taylor

2015

Opt. Eng

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Abstract. Digital photoelasticity offers enormous potential for the validation of computational models of biomedical soft tissue applications. The challenges of creating suitable birefringent surrogate materials are outlined. The recent progress made in the development of photoelastic materials and full-field, quantitative methods for biomechanics applications is illustrated with two complementary case studies: needle insertion and shaken baby syndrome. Initial experiments are described and the future exciting possibilities of using digital photoelasticity are discussed.

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Observations of three-dimensional needle deflection during insertion into soft tissue

Cited by 15 publications

References 27 publications

Design and evaluation of a wasp-inspired steerable needle

Design and evaluation of a wasp-inspired steerable needle

Three-Dimensional Needle Shape Reconstruction Using an Array of Fiber Bragg Grating Sensors

Photoelastic materials and methods for tissue biomechanics applications

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