A Survey of Needle Steering Approaches in Minimally Invasive Surgery

Area of Science:

• Robotics
• Medical Engineering
• Surgical Technology

Background:

• Needle steering techniques enable curved insertion paths within tissues, enhanced by medical robots and imaging.
• Preliminary studies show benefits in target realignment, obstacle avoidance, and multi-target access.

Purpose of the Study:

• To address the challenge of selecting appropriate needle steering approaches for clinical use.
• To systematically review current needle steering techniques based on design choices and clinical considerations.

Main Methods:

• A hierarchical taxonomy of needle steering approaches is proposed based on manipulation and design.
• Steerability and clinical acceptability of existing techniques are discussed.
• Pros, cons, and suitable applications of current methods are summarized.

Main Results:

• Classification of needle steering approaches based on design variations and their impact on treatments.
• Evaluation of the steerability and acceptability of current needle steering technologies.
• Identification of suitable clinical applications for various needle steering techniques.

Conclusions:

• Provides a framework for choosing needle steering methods based on design and clinical factors.
• Highlights potential clinical applications and future mechanical design developments for needle steering techniques.