A model to predict deflection of bevel-tipped active needle advancing in soft tissue

Datla, Naresh V.; Konh, Bardia; Honarvar, Mohammad; Podder, Tarun; Dicker, Adam P.; Yan, Yu; Hutapea, Parsaoran

doi:10.1016/j.medengphy.2013.11.006

Cited by 47 publications

(22 citation statements)

References 18 publications

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“…The use of such shuttles increases device diameter, potentially mitigating the benefits to gliosis reduction. The development of needle steering techniques has improved the predictability of needle trajectory in the brain and in other organs via closed‐loop control . Bevel‐tip needle steering is driven by asymmetric tip geometry resulting in a net lateral force upon insertion in soft media that leads to a curved insertion trajectory .…”

Section: Introductionmentioning

confidence: 99%

“…The development of needle steering techniques has improved the predictability of needle trajectory in the brain and in other organs via closed‐loop control . Bevel‐tip needle steering is driven by asymmetric tip geometry resulting in a net lateral force upon insertion in soft media that leads to a curved insertion trajectory . Asymmetric tip geometry can be a simple bevel or a more complex bent tip, both of which can be guided by closed‐loop control over implant position via needle rotation or magnetic actuation .…”

Section: Introductionmentioning

confidence: 99%

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Steerable Microinvasive Probes for Localized Drug Delivery to Deep Tissue

Cotler

Rousseau

Ramadi

et al. 2019

Small

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Enhanced understanding of neuropathologies has created a need for more advanced tools. Current neural implants result in extensive glial scarring and are not able to highly localize drug delivery due to their size. Smaller implants reduce surgical trauma and improve spatial resolution, but such a reduction requires improvements in device design to enable accurate and chronic implantation in subcortical structures. Flexible needle steering techniques offer improved control over implant placement, but often require complex closed‐loop control for accurate implantation. This study reports the development of steerable microinvasive neural implants (S‐MINIs) constructed from borosilicate capillaries (OD = 60 µm, ID = 20 µm) that do not require closed‐loop guidance or guide tubes. S‐MINIs reduce glial scarring 3.5‐fold compared to prior implants. Bevel steered needles are utilized for open‐loop targeting of deep‐brain structures. This study demonstrates a sinusoidal relationship between implant bevel angle and the trajectory radius of curvature both in vitro and ex vivo. This relationship allows for bevel‐tipped capillaries to be steered to a target with an average error of 0.23 mm ± 0.19 without closed‐loop control. Polished microcapillaries present a new microinvasive tool for chronic, predictable targeting of pathophysiological structures without the need for closed‐loop feedback and complex imaging.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Steerable Microinvasive Probes for Localized Drug Delivery to Deep Tissue

Cotler

Rousseau

Ramadi

et al. 2019

Small

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“…Tuohy) tend to deflect toward the notch on the hub and beveled surface, in the direction of the curved tip (3). Thus far, studies have used porcine (1, 2, 4), polystyrene foam (5), and Plastisol (polyvinylchloride suspension) (6, 7) tissue simulants.…”

Section: Introductionmentioning

confidence: 99%

Comparison of Spinal Needle Deflection in a Ballistic Gel Model

et al. 2016

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BackgroundPercutaneous diagnostic and therapeutic procedures are commonly used in the treatment of spinal pain. The success of these procedures depends on the accuracy of needle placement, which is influenced by needle size and shape.ObjectivesThe purpose of this study is to examine and quantify the deviation of commonly used spinal needles based on needle tip design and gauge, using a ballistic gel tissue simulant.Materials and MethodsSix needles commonly used in spinal procedures (Quincke, Short Bevel, Chiba, Tuohy, Hustead, Whitacre) were selected for use in this study. Ballistic gel samples were made in molds of two depths, 40mm and 80 mm. Each needle was mounted in a drill press to ensure an accurate needle trajectory. Distance of deflection was recorded for each needle.ResultsIn comparing the mean deflection of 22 gauge needles of all types at 80 mm of depth, deflection was greatest among beveled needles [Short Bevel (9.96 ± 0.77 mm), Quincke (8.89 ± 0.17 mm), Chiba (7.71 ± 1.16 mm)], moderate among epidural needles [Tuohy (7.64 ± 0.16 mm) and least among the pencil-point needles [Whitacre (0.73 ± 0.34 mm)]. Increased gauge (25 g) led to a significant increase in deflection among beveled needles. The direction of deflection was away from the bevel with Quincke, Chiba and Short Beveled needles and toward the bevel of the Tuohy and Hustead needles. Deflection of the Whitacre pencil-point needle was minimal.ConclusionsThere is clinical utility in knowing the relative deflection of various needle tips. When a procedure requires a needle to be steered around obstacles, or along non-collinear targets, the predictable and large amount of deflection obtained through use of a beveled spinal needle may prove beneficial.

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“…Kratchman et al [9] described tendon actuation systems designed to steer flexible needle shafts in solid tissue. Ayvali et al [10], Datla et al [11], and Ryu et al [12] have described using shape memory alloy (SMA) actuators to articulate needle sections, with the latter system using optically actuated SMA tendons to allow compatibility with MRI systems. Ko and Rodriguez y Baena [13] have described a biologically inspired needle that steers by adjusting the relative offset between parallel sections.…”

Section: Introductionmentioning

confidence: 99%

Methods for Improving the Curvature of Steerable Needles in Biological Tissue

Adebar

Greer

Laeseke

et al. 2016

IEEE Trans. Biomed. Eng.

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Robotic needle steering systems have the potential to improve percutaneous interventions such as radiofrequency ablation of liver tumors, but steering techniques described to date have not achieved sufficiently small radius of curvature in biological tissue to be relevant to this application. In this work, the impact of tip geometry on steerable needle curvature is examined. Finite-element simulations and experiments with bent-tip needles in ex vivo liver tissue demonstrate that selection of tip length and angle can greatly improve curvature, with radius of curvature below 5 cm in liver tissue possible through judicious selection of these parameters. Motivated by the results of this analysis, a new articulated-tip steerable needle is described, in which a distal section is actively switched by a robotic system between a straight tip (resulting in a straight path) and a bent tip (resulting in a curved path). This approach allows the tip length and angle to be increased, while the straight configuration allows the needle tip to still pass through an introducer sheath and rotate inside the body. Validation testing in liver tissue shows that the new articulated-tip steerable needle achieves smaller radius of curvature compared to bent-tip needles described in previous work. Steerable needles with optimized tip parameters, which can generate tight curves in liver tissue, increase the clinical relevance of needle steering to percutaneous interventions.

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A model to predict deflection of bevel-tipped active needle advancing in soft tissue

Cited by 47 publications

References 18 publications

Steerable Microinvasive Probes for Localized Drug Delivery to Deep Tissue

Steerable Microinvasive Probes for Localized Drug Delivery to Deep Tissue

Comparison of Spinal Needle Deflection in a Ballistic Gel Model

Methods for Improving the Curvature of Steerable Needles in Biological Tissue

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