Compact 3D-Printed Active Flexible Needle for Percutaneous Procedures

Needle-based intervention has been a popular procedure for diagnosis and treatment of many types of cancer. However, poor needle placement and tumor visualization have been among the challenges resulting in poor clinical outcomes. There has been a lot of progress in medical imaging technology, but the structure of surgical needles has remained unchanged. This work presents a wire-driven 3D steerable, 3D-printed active needle for improved guidance inside the tissue toward the target. The needle is manipulated by 3 embedded tendons via a programmed motorized control unit. Feasibility tests in a tissue phantom showed an average 3D needle angular deflection of about 11°. This amount of angular deflection is expected to assist prostate brachytherapy via a curvilinear approach.