A Modular Robotic Catheter Driver for Programmable Bevel-tip Steerable Needles

2018 ◽  
Author(s):  
R Secoli ◽  
◽  
E Matheson ◽  
F Rodriguez y Baena
Keyword(s):  
Steerable Needles

Steerable Needle Trajectory Following in the Lung: Torsional Deadband Compensation and Full Pose Estimation With 5DOF Feedback for Needles Passing Through Flexible Endoscopes

2020 ◽  
Author(s):  
Tayfun Efe Ertop ◽  
Maxwell Emerson ◽  
Margaret Rox ◽  
Josephine Granna ◽  
Robert Webster ◽  
...  
Keyword(s):  
Kalman Filter ◽  
Sliding Mode ◽  
Ex Vivo ◽  
Flexible Bronchoscope ◽  
Complex Interactions ◽  
Trajectory Following ◽  
Steerable Needles ◽  
Needle Trajectory ◽  
Following Error ◽  
Steerable Needle

Abstract Bronchoscopic diagnosis and intervention in the lung is a new frontier for steerable needles, where they have the potential to enable minimally invasive, accurate access to small nodules that cannot be reliably accessed today. However, the curved, flexible bronchoscope requires a much longer needle than prior work has considered, with complex interactions between the needle and bronchoscope channel, introducing new challenges in steerable needle control. In particular, friction between the working channel and needle causes torsional windup along the bronchoscope, the effects of which cannot be directly measured at the tip of thin needles embedded with 5 degree-of-freedom magnetic tracking coils. To compensate for these effects, we propose a new torsional deadband-aware Extended Kalman Filter to estimate the full needle tip pose including the axial angle, which defines its steering direction. We use the Kalman Filter estimates with an established sliding mode controller to steer along desired trajectories in lung tissue. We demonstrate that this simple torsional deadband model is sufficient to account for the complex interactions between the needle and endoscope channel for control purposes. We measure mean final targeting error of 1.36 mm in phantom tissue and 1.84 mm in ex-vivo porcine lung, with mean trajectory following error of 1.28 mm and 1.10 mm, respectively.

Follow-the-Leader Deployment of Steerable Needles Using a Magnetic Resonance-Compatible Robot With Stepper Actuators1

2016 ◽  
Vol 10 (2) ◽  
Author(s):  
E. Bryn Pitt ◽  
David B. Comber ◽  
Yue Chen ◽  
Joseph S. Neimat ◽  
Robert J. Webster ◽  
...  
Keyword(s):  
Magnetic Resonance ◽  
Steerable Needles

scholarly journals Adaptive path planning for steerable needles using duty-cycling

2011 ◽  
Author(s):  
Mariana C. Bernardes ◽  
Bruno V. Adorno ◽  
Philippe Poignet ◽  
Nabil Zemiti ◽  
Geovany A. Borges
Keyword(s):  
Path Planning ◽  
Duty Cycling ◽  
Steerable Needles

Robot-Assisted Steerable Needles: Prototype Development And Feasibility Studies In An Animal Model

2011 ◽  
Vol 165 (2) ◽  
pp. 175
Author(s):  
M.G. Van Vledder ◽  
A. Majewicz ◽  
S.P. Marra ◽  
D.Y. Song ◽  
A.M. Okamura ◽  
...  
Keyword(s):  
Animal Model ◽  
Feasibility Studies ◽  
Robot Assisted ◽  
Prototype Development ◽  
Steerable Needles

scholarly journals Needle-like instruments for steering through solid organs: A review of the scientific and patent literature

2017 ◽  
Vol 231 (3) ◽  
pp. 250-265 ◽  
Author(s):  
Marta Scali ◽  
Tim P Pusch ◽  
Paul Breedveld ◽  
Dimitra Dodou
Keyword(s):  
Deflection Angle ◽  
Tissue Sample ◽  
Three Dimensional ◽  
Systematic Classification ◽  
On Demand ◽  
Percutaneous Procedures ◽  
Accuracy And Precision ◽  
Patent Literature ◽  
Steerable Needles ◽  
Localized Drug Delivery

High accuracy and precision in reaching target locations inside the human body is necessary for the success of percutaneous procedures, such as tissue sample removal (biopsy), brachytherapy, and localized drug delivery. Flexible steerable needles may allow the surgeon to reach targets deep inside solid organs while avoiding sensitive structures (e.g. blood vessels). This article provides a systematic classification of possible mechanical solutions for three-dimensional steering through solid organs. A scientific and patent literature search of steerable instrument designs was conducted using Scopus and Web of Science Derwent Innovations Index patent database, respectively. First, we distinguished between mechanisms in which deflection is induced by the pre-defined shape of the instrument versus mechanisms in which an actuator changes the deflection angle of the instrument on demand. Second, we distinguished between mechanisms deflecting in one versus two planes. The combination of deflection method and number of deflection planes led to eight logically derived mechanical solutions for three-dimensional steering, of which one was dismissed because it was considered meaningless. Next, we classified the instrument designs retrieved from the scientific and patent literature into the identified solutions. We found papers and patents describing instrument designs for six of the seven solutions. We did not find papers or patents describing instruments that steer in one-plane on-demand via an actuator and in a perpendicular plane with a pre-defined deflection angle via a bevel tip or a pre-curved configuration.

Fracture-Directed Steerable Needles

2019 ◽  
Vol 04 (01) ◽  
pp. 1842002 ◽  
Author(s):  
Fan Yang ◽  
Mahdieh Babaiasl ◽  
John P. Swensen
Keyword(s):  
Lower Bound ◽  
Soft Tissues ◽  
Target Location ◽  
Needle Insertion ◽  
Small Radius ◽  
Radius Of Curvature ◽  
Step Size ◽  
Tissue Phantoms ◽  
Kinematic Models ◽  
Steerable Needles

Steerable needles hold the promise of improving the accuracy of both therapies and biopsies as they are able to steer to a target location around obstructions, correct for disturbances, and account for movement of internal organs. However, their ability to make late-insertion corrections has always been limited by the lower bound on the attainable radius of curvature. This paper presents a new class of steerable needle insertion where the objective is to first control the direction of tissue fracture with an inner stylet and later follow with the hollow needle. This method is shown to be able to achieve radius of curvature as low as 6.9[Formula: see text]mm across a range of tissue stiffnesses and the radius of curvature is controllable from the lower bound up to a near infinite radius of curvature based on the stylet/needle step size. The approach of “fracture-directed” steerable needles indicates the promise of the technique for providing a tissue-agnostic method of achieving high steerability that can account for variability in tissues during a typical procedure and achieve radii of curvature unattainable through current bevel-tipped techniques. A variety of inner stylet geometries are investigated using tissue phantoms with multiple stiffnesses and discrete-step kinematic models of motion are derived heuristically from the experiments. The key finding presented is that it is the geometry of the stylet and the tuning of the bending stiffnesses of both the stylet and the tube, relative to the stiffness of the tissue, that allow for such small radius of curvature even in very soft tissues.

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