A model to predict deflection of bevel-tipped active needle advancing in soft tissue

Abstract Active needles are recently being developed to improve steerability and placement accuracy for various medical applications. These active needles can bend during insertion by actuators attached to their bodies. The bending of active needles enables them to be steered away from the critical...

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Bibliographic Details
Published in:Medical engineering & physics 2014-03, Vol.36 (3), p.285-293
Main Authors: Datla, Naresh V, Konh, Bardia, Honarvar, Mohammad, Podder, Tarun K, Dicker, Adam P, Yu, Yan, Hutapea, Parsaoran
Format: Article
Language:English
Subjects:
Active needle
Actuation
Actuation force
Control theory
Deflection
Elasticity
Energy-based model
Finite Element Analysis
Flexible needle steering
Insertion
Mathematical models
Mechanical Phenomena
Medical
Models, Theoretical
Needle deflection
Needles
Permissible error
Polyvinyl Chloride
Radiology
Steel
Tissue–needle interactions
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Summary:Abstract Active needles are recently being developed to improve steerability and placement accuracy for various medical applications. These active needles can bend during insertion by actuators attached to their bodies. The bending of active needles enables them to be steered away from the critical organs on the way to target and accurately reach target locations previously unachievable with conventional rigid needles. These active needles combined with an asymmetric bevel-tip can further improve their steerability. To optimize the design and to develop accurate path planning and control algorithms, there is a need to develop a tissue–needle interaction model. This work presents an energy-based model that predicts needle deflection of active bevel-tipped needles when inserted into the tissue. This current model was based on an existing energy-based model for bevel-tipped needles, to which work of actuation was included in calculating the system energy. The developed model was validated with needle insertion experiments with a phantom material. The model predicts needle deflection reasonably for higher diameter needles (11.6% error), whereas largest error was observed for the smallest needle diameter (24.7% error).
ISSN:1350-4533
1873-4030
DOI:10.1016/j.medengphy.2013.11.006