Towards Water-Jet Steerable Needles

Babaiasl, Mahdieh; Yang, Fan; Swensen, John

doi:10.1109/biorob.2018.8487645

Cited by 8 publications

(6 citation statements)

References 34 publications

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“…ing mechanisms have been developed [9][10][11][12] . A hand-held steerable needle with battery-powered actuation of a pre-curved stylet protruding from a rigid cannula was proposed by Okazawa et al 13 .…”

Section: Related Work and Contribution To Improve Manipulability Andmentioning

confidence: 99%

Steerable needles for radio-frequency ablation in cirrhotic livers

Berg

Meeuwsen

Doukas

et al. 2021

Sci Rep

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Accurate needle placement in deep-seated liver tumours can be difficult. In this work, we disclose two new manually controlled steerable needles for 17G radio-frequency ablation probe placement. The needles contain stylets with embedded compliant joints for active tip articulations, and concentric tubes for (curved-path) guidance. Needle steering was evaluated sequentially by intended users and in intended-use tissue types. Six interventional radiologists evaluated the needle in repeated ultrasound-guided steering tasks in liver-mimicking phantoms. Targets were located at a 100 mm depth and 20 mm lateral offset from the initial insertion line. The resulting mean absolute tip placement error was 1.0 ± 1.0 mm. Subsequently, steering-induced tissue damage was evaluated in fresh cirrhotic human liver explants. The surface area of puncture holes was estimated in scanned histology slides, using a connected-components analysis. The mean surface area was 0.26 ± 0.16 mm2 after steering with a median radius of curvature of 0.7 × 103 mm, versus 0.35 ± 0.15 mm2 after straight-path insertions with the steerable needle and 0.15 ± 0.09 mm2 after straight-path RFA probe insertions. The steering mechanisms proposed enable clinically relevant path corrections for 17G needles. Radiologists were quickly adept in curved-path RFA probe placement and the evaluation of histological tissue damage demonstrated a potentially safe use during liver interventions.

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Section: Related Work and Contribution To Improve Manipulability Andmentioning

confidence: 99%

Steerable needles for radio-frequency ablation in cirrhotic livers

Berg

Meeuwsen

Doukas

et al. 2021

Sci Rep

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“…Because of the difficulties associated with using real biological tissues (a complete list of difficulties are discussed in our other publications. The interested reader is referred to [20] for more information. ), we have used Poly (styrene-bethylene-co-butylene-b-styrene) triblock copolymer (SEBS) by Kraton Polymers LLC (G1650, Houston, TX, USA) as the main material for our tissue-mimicking simulants.…”

Section: A Tissue Simulant Preparation and Mechanical Testingmentioning

confidence: 99%

Fracture-directed Waterjet Needle Steering: Design, Modeling, and Path Planning

Babaiasl

Yang

Boccelli

et al. 2020

2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)

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Steerable needle technology has the promise of improving outcomes by enhancing the accuracy of different therapies and biopsies, as they can be steered to a target location around obstacles. Achieving small radius of curvature and being able to control both radius of curvature and tip travel are of paramount importance in steerable needles to accomplish the increase in efficacy of the medical procedures. In this paper, we present a new class of the steerable needles, which we call waterjet-directed steerable needles, where the underlying principle is to first control the direction of tissue fracture with waterjet, after which the needle will follow during subsequent insertion. In this paper, the direction of the tissue fracture is controlled by an angled waterjet nozzle and control of the water velocity, and then the flexible Nitinol needle follows. It is shown that by changing the velocity of waterjet and thus depth of cut, radius of curvature can be controlled. A discrete-step kinematic model is used to model the motion of the waterjet steerable needle. This model consist of two parts: (1) the mechanicsbased model predicts the cut-depth of waterjet in soft tissue based on soft tissue properties, waterjet diameter, and water exit velocity, and (2) a discrete-step kinematic unicycle model of the steerable needle travel. Path planning is accomplished through a genetic algorithm, and the efficacy of waterjet steerable needle is tested for different paths. The key finding of the paper is that the radius of curvature of the waterjet steerable needle can be controlled by a fixed waterjet tip angle and varying water exit velocity to control the depth of cut.

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“…The material we used to simulate the biological tissues in this paper is Poly (styrene-b-ethylene-co-butylene-b-styrene) triblock copolymer (SEBS), produced by Kraton Polymers LLC (G1650, Houston, TX, USA). Soft tissue simulants made of SEBS are environmentally stable substitutes for water-based hydrogels [1], [10], [11], [12]. The tissues made of SEBS in mineral oil are optically clear which makes the imaging of the inside of the tissues easier.…”

Section: Tissue Simulantsmentioning

confidence: 99%

Resultant Radius of Curvature of Stylet-and-Tube Steerable Needles Based on the Mechanical Properties of the Soft Tissue, and the Needle

Yang

Babaiasl

Chen

et al. 2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Steerable needles have been widely researched in recent years, and they have multiple potential roles in the medical area. The flexibility and capability of avoiding obstacles allow the steerable needles to be applied in the biopsy, drug delivery and other medical applications that require a high degree of freedom and control accuracy. Radius of Curvature (ROC) of the needle while inserting in the soft tissue is an important parameter for evaluation of the efficacy, and steerability of these flexible needles. For our Fracture-directed Stylet-and-Tube Steerable Needles, it is important to find a relationship among the resultant insertion ROC, pre-set wire shape and the Young's Modulus of soft tissue to characterize this class of steerable needles. In this paper, an approach is provided for obtaining resultant ROC using stylet and tissue's mechanical properties. A finite element analysis is also conducted to support the reliability of the model. This work sets the foundation for other researchers to predict the insertion ROC based on the mechanical properties of the needle, and the soft tissue that is being inserted.

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Towards Water-Jet Steerable Needles

Cited by 8 publications

References 34 publications

Steerable needles for radio-frequency ablation in cirrhotic livers

Steerable needles for radio-frequency ablation in cirrhotic livers

Fracture-directed Waterjet Needle Steering: Design, Modeling, and Path Planning

Resultant Radius of Curvature of Stylet-and-Tube Steerable Needles Based on the Mechanical Properties of the Soft Tissue, and the Needle

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