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Abstract Active needles demonstrate improved accuracy and tip deflection compared to their passive needle counterparts, a crucial advantage in percutaneous procedures. However, the ability of these needles to effectively navigate through tissues is governed by needle-tissue interaction, which depends on the tip shape, the cannula surface geometry, and the needle insertion method. In this research, we evaluated the effect of cannula surface modifications and the application of a vibrational insertion technique on the performance of shape memory alloy (SMA)-actuated active needles. These features were inspired by the mosquito proboscis’ unique design and skin-piercing technique that decreased the needle tissue interaction force, thus enhancing tip deflection and steering accuracy. The bioinspired features, i.e., mosquito-inspired cannula design and vibrational insertion method, in an active needle reduced the insertion force by 26.24% and increased the tip deflection by 37.11% in prostate-mimicking gel. In addition, trajectory tracking error was reduced by 48%, and control effort was reduced by 23.25%, pointing towards improved needle placement accuracy. The research highlights the promising potential of bioinspired SMA-actuated active needles. Better tracking control and increased tip deflection are anticipated, potentially leading to improved patient outcomes and minimized risk of complications during percutaneous procedures.
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Design and Control Strategy of Tip Manipulation for Shape Memory Alloy Actuated Steerable Needle
In a minimally invasive percutaneous procedure like biopsy, brachytherapy, and tissue ablation, the inner soft tissue is accessed through surgical needle-puncture of the skin. This process reduces tissue damage and risk of infection and improves patient recovery time. However, its effectiveness depends on the needle’s ability to travel on a curved path, avoid obstacles, and maintain high targeting accuracy. Conventional needles are passive and have limited steerability and trajectory correction capability. This has motivated researchers to develop actuation mechanisms to create active needles. In this study, an innovative active steerable needle with a single shape memory alloy (SMA) wire actuator is designed, fabricated, and tested for maneuver. A closed-loop Proportional Integral Derivative (PID) controller with position feedback is developed to control needle tip deflection in air and tissue-mimicking gels. The needle tip is deflected up to 5.75 mm in the air medium. In tissue-mimicking gel, it is deflected up to 15 mm in a predefined trajectory during a 100 mm insertion depth. Our results show that needle tip deflection control has an average root mean square error (RMSE) of 0.72 mm in the air and 1.26 mm in the tissue-mimicking gel. The trajectory tracking performance of the designed SMA actuated needle and its control system show the effectiveness of the active needle in the percutaneous procedures. Future work includes testing the needle’s performance in the biological tissues.
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- Award ID(s):
- 1917711
- PAR ID:
- 10441708
- Date Published:
- Journal Name:
- Proceedings of the ASME 2022 Conference on Smart Materials, Adaptive Structures and Intelligent Systems
- Page Range / eLocation ID:
- V001T04A011
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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Abstract BackgroundConventional needles lack active mechanisms for large tip deflection to bypass obstacles or guide through a desired trajectory in needle‐based procedures, compromising accuracy and effectiveness. MethodsAn active needle with a shape memory alloy (SMA) actuator was designed and evaluated by demonstrating deflections in tissue‐mimicking gels. Finite element simulation and real‐time needle tip deflection tracking in tissue‐mimicking gels were performed. ResultsThe active needle deflected 50 and 39 mm at 150 mm insertion depth in the liver and prostate mimicking gels, respectively. Reasonable simulation errors of 16.42% and 12.62% in needle deflections and small root mean squared errors of 1.42 and 1.47 mm in deflection tracking were obtained. ConclusionsThe proposed needle produced desirable large tip deflections capable of bypassing obstacles in the insertion path and tracked a preplanned trajectory with minor errors. The finite element study would help optimise needle designs and predict deflections in soft tissues.more » « less
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Abstract Active needles obtain more significant tip deflection and improved accuracy over passive needles for percutaneous procedures. However, their ability to navigate through tissues to reach targets depends upon the actuation mechanism, the tip shape, and the surface geometry of the shaft. In this study, we investigate the benefits of changing the surface geometry of the active needle shaft in a) needle tip deflection and b) trajectory tracking during tissue insertion. The modifications in passive needle surface geometry have been proven to reduce friction force, tissue displacement, and tissue damage. This study incorporates the effect of modifying the regular smooth cannula with a mosquito proboscis-inspired design in the active needles. The changes in insertion force, tip deflection, and trajectory tracking control during insertion into a prostate-mimicking phantom are measured. Results show that insertion force is reduced by up to 10.67% in passive bevel-tip needles. In active needles, tip deflection increased by 12.91% at 150mm when the cannula is modified. The bioinspired cannula improved trajectory tracking error in the active needle by 39.00% while utilizing up to 17.65% lower control duty cycle. Improving tip deflection and tracking control would lead to better patient outcomes and reduced risk of complications during percutaneous procedures.more » « less
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Abstract Active needles obtain more significant tip deflection and improved accuracy over passive needles for percutaneous procedures. However, their ability to navigate through tissues to reach targets depends upon the actuation mechanism, the tip shape, and the surface geometry of the shaft. In this study, we investigate the benefits of changing the surface geometry of the active needle shaft in a) needle tip deflection and b) trajectory tracking during tissue insertion. The modifications in passive needle surface geometry have been proven to reduce friction force, tissue displacement, and tissue damage. This study incorporates the effect of modifying the regular smooth cannula with a mosquito proboscis-inspired design in the active needles. The changes in insertion force, tip deflection, and trajectory tracking control during insertion into a prostate-mimicking phantom are measured. Results show that insertion force is reduced by up to 10.67% in passive bevel-tip needles. In active needles, tip deflection increased by 12.91% at 150mm when the cannula is modified. The bioinspired cannula improved trajectory tracking error in the active needle by 39% while utilizing up to 17.65% lower control duty cycle. Improving tip deflection and tracking control would lead to better patient outcomes and reduced risk of complications during percutaneous procedures.more » « less
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Abstract Soft tissue biopsy is a necessary diagnostic and therapeutic procedure, but traditional biopsy needles can cause harm to the patient, including tissue damage, bleeding, and pain. These can compromise the accuracy of the sample and negatively impact the patient’s well-being. Hence, there has been a growing interest in developing bio-inspired surgical needles that are safer, more effective, and more comfortable for the patient. The scorpion-inspired curved tip needle study focuses on analyzing the mechanics of needle-tissue interaction and creating needles that travel through soft tissue with minimum resistance at the tip. An essential aspect of the study is the mechanics and geometry of the needle tip, which plays a crucial role in its performance. The study incorporates structures of curved scorpion’s stinger to balance between penetration and minimal needle-tissue interaction forces. In this study, various parameters of curved tip geometry are explored to decrease the insertion and extraction forces. Tests are initially performed on brain tissue mimicking medical gelatin with Young’s modulus of 2kPa. It is observed that the insertion force with curved tip needles is decreased by up to 21.7%, and the extraction force is decreased by up to 28.2%. This study shows that a scorpion-inspired tip design can minimize insertion and extraction forces, leading to less tissue damage and deformation. Furthermore, the proposed tip design has great potential to improve surgical needles for more effective minimally invasive percutaneous procedures with various applications such as biopsy, brachytherapy, tumor ablation, and drug delivery to the brain.more » « less
- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1115/SMASIS2022-91002
