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Rate dependency during needle insertions with a biologically inspired steering system: an experimental study.

Riccardo Secoli, Ferdinando Rodriguez y Baena

    Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
    |January 9, 2015
    PubMed
    Summary

    This study introduces a novel steering approach for multi-segment needles used in minimally invasive (MI) surgery. The new method enhances needle maneuverability for precise, 3D trajectory control during procedures.

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    Area of Science:

    • Medical Devices
    • Robotics
    • Surgical Technology

    Background:

    • Percutaneous interventions commonly use minimally invasive (MI) surgical procedures.
    • Needle steering systems can cause target migration and increase tissue trauma compared to straight needles.
    • Accurate needle tip control is crucial for deep-seated lesions several centimeters below skin level.

    Purpose of the Study:

    • To investigate insertion modalities for a biologically inspired multi-segment needle.
    • To analyze the relationship between segment displacement and needle tip curvature.
    • To develop an improved steering approach for enhanced maneuverability.

    Main Methods:

    • Experiments were conducted using a multi-segment needle in gelatine.
    • The study exploited a quasi-linear relationship between segment displacement and tip curvature.
    • Different segment insertion speeds were tested to assess their impact on the steering relationship.

    Main Results:

    • Segment insertion speeds did not affect the relationship between segment displacement and needle tip curvature.
    • A new steering approach was proposed based on these findings.
    • The proposed approach significantly improved needle maneuverability, specifically the rate of change of steering angle.

    Conclusions:

    • The insertion speed of needle segments does not influence the steering characteristics of the multi-segment needle.
    • A novel steering strategy enhances the maneuverability of biologically inspired needles.
    • This advancement holds potential for more precise and less invasive percutaneous interventions.