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Erschienen in:

2017 | OriginalPaper | Buchkapitel

Multi-target Planar Needle Steering with a Bio-inspired Needle Design

verfasst von : Christopher Burrows, Fangde Liu, Alexander Leibinger, Riccardo Secoli, Ferdinando Rodriguez y Baena

Erschienen in: Advances in Italian Mechanism Science

Verlag: Springer International Publishing

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Abstract

Percutaneous intervention is common practice in many diagnostic and therapeutic surgical procedures. Needle steering research aims to extend these by enabling therapies that are not possible with a straight rigid needle. Being able to address multiple targets in one insertion is an example of such a therapy, which would result in reduced overall trauma to the patient and surgery time. However, needle steering remains challenging, as soft tissue is highly compliant and deformable, and thus difficult to interact with. In this work, we develop a new biologically inspired needle design (4 mm outside diameter) and show its capabilities in multiple moving target scenarios. In vitro results in gelatin demonstrate accurate 2D tracking of two virtual targets over 3 target movement rates.

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Vorheriges Kapitel A Kinematic Solution of a Novel Leg Mechanism with Parallel Architecture

Nächstes Kapitel Development of an Active Force Plate for Testing Lower-Limb Prostheses

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Burrows C, Liu F, Rodriguez y Baena F (2015) Smooth on-line path planning for needle steering with non-linear constraints. In: 2015 IEEE/RSJ international conference on intelligent robots and systems (IROS), pp 2653–2658. doi:10.1109/IROS.2015.7353739

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Ko SY, Rodriguez y Baena F (2013) Toward a miniaturized needle steering system with path planning for obstacle avoidance. IEEE Trans Biomed Eng 60(4):910–917

Leibinger A, Oldfield M, Rodriguez y Baena F (2014) Multi-objective design optimization for a steerable needle for soft tissue surgery. In: The 15th international conference on biomedical engineering. Springer, pp 420–423

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10.

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Titel: Multi-target Planar Needle Steering with a Bio-inspired Needle Design
verfasst von: Christopher Burrows
Fangde Liu
Alexander Leibinger
Riccardo Secoli
Ferdinando Rodriguez y Baena
Verlag: Springer International Publishing
Buch: Advances in Italian Mechanism Science
Print ISBN: 978-3-319-48374-0

Electronic ISBN: 978-3-319-48375-7

Copyright-Jahr: 2017
DOI: https://doi.org/10.1007/978-3-319-48375-7_6

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