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Ovipositor-inspired steerable needle: design and preliminary experimental evaluation.

M Scali¹, T P Pusch, P Breedveld

¹Faculty of Mechanical, Maritime and Materials Engineering, Biomechanical Department, Delft University of Technology, Delft, The Netherlands. Joint first authors.

Bioinspiration & Biomimetics

|October 12, 2017

Summary

This study introduces a thin, biologically inspired steerable needle for minimally invasive surgery. The 1.2mm diameter needle, mimicking wasp ovipositors, navigates complex paths without buckling or rotation, advancing surgical capabilities.

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Published on: October 7, 2021

Area of Science:

Biomedical Engineering
Robotics
Surgical Innovation

Background:

Flexible steerable needles offer improved accuracy and reduced tissue damage in surgery compared to rigid needles.
Designing thin needles (<2mm diameter) with multi-directional steering remains a significant challenge.

Purpose of the Study:

To design and experimentally evaluate a biologically inspired, thin (1.2mm diameter) steerable needle.
To achieve needle advancement through straight and curved paths without external pushing, buckling, or axial rotation.

Main Methods:

A novel needle design inspired by parasitoid wasp ovipositors, utilizing seven nickel-titanium wires.
Testing in gelatin phantoms to evaluate forward motion (insertion lag) and steering capabilities (curvature, deflection-to-insertion ratio).

Main Results:

The 1.2mm needle achieved forward motion with minimal lag (0.21 single wire, 0.34 double wire actuation).
Demonstrated effective steering with a maximum curvature of 0.0184 cm⁻¹ and a deflection-to-insertion ratio of 0.0778.

Conclusions:

The biologically inspired needle design represents a significant advancement for developing thin, steerable instruments for percutaneous interventions.
This technology holds promise for enhancing precision and safety in minimally invasive surgical procedures.