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Updated: Jun 18, 2026
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A High-Throughput Image-Guided Stereotactic Neuronavigation and Focused Ultrasound System for Blood-Brain Barrier Opening in Rodents
Published on: July 16, 2020
Soft-tissue modeling and image-guided control of steerable needles
Nasser Sadati1, Meysam Torabi, Reza Vaziri
1Electrical and Computer Engineering Department, The University of British Columbia, Kaiser 3054 - 2332 Main Mall, Vancouver, BC Canada. sadati@ece.ubc.ca
Summary
This study introduces a fuzzy controller to precisely guide a flexible bevel-tip needle through tissue. The controller adjusts needle spinning for accurate path tracking, essential for minimally invasive procedures.
Area of Science:
- Robotics and Control Systems
- Biomedical Engineering
- Medical Device Navigation
Background:
- Accurate navigation of flexible needles is crucial for minimally invasive surgery.
- Tissue heterogeneity and interaction dynamics pose challenges for needle steering.
- Existing methods may lack the precision required for complex trajectories.
Purpose of the Study:
- To develop and validate a fuzzy control system for precise steering of a flexible bevel-tip needle.
- To achieve target-tracking path following in an obstacle-free environment.
- To model and account for tissue-needle interactions during navigation.
Main Methods:
- Exploited a fuzzy controller to manipulate the needle's base.
- Utilized high rotational velocity to induce straight-line motion.
- Implemented a closed-loop system for trajectory matching.
- Employed a swine brain tissue model from an in-vitro experimental setup for realistic simulation.
Main Results:
- Demonstrated precise path tracking of the bevel-tip needle.
- Fuzzy controller successfully generated planned trajectories.
- The system achieved accurate needle body matching with the desired trajectory.
- Validated control with two degrees of freedom in a complex tissue model.
Conclusions:
- Fuzzy control offers a viable strategy for precise flexible needle steering.
- High-speed rotation is effective in controlling needle path linearity.
- The developed system shows promise for image-guided interventions and robotic surgery.
