Modeling of Needle Steering via Duty-Cycled Spinning

Davneet Minhas, Johnathan A. Engh, Michele Marie Fenske, and Cameron Riviere
Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, August, 2007, pp. 2756-2759.


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Abstract
As flexible bevel tip needles are inserted into tissue, a deflection force causes the needle to bend with a curvature dependent on relative stiffness and bevel angle. By constantly spinning the needle during insertion, the bevel angle is essentially negated and a straight trajectory can be achieved. Incorporating duty-cycled spinning during needle insertion provides proportional control of the curvature of the needle trajectory through tissue. This paper proposes a kinematic model for needle steering via duty-cycled spinning. Validation using experimental results is also presented.

Keywords
neurosurgery, needle steering, minimally invasive surgery

Notes
Sponsor: Simeon M. Jones, Jr. and Katharine Reed Jones Fund and the Walter L. Copeland Fund of The Pittsburgh Foundation
Associated Center(s) / Consortia: Medical Robotics Technology Center
Associated Lab(s) / Group(s): Surgical Mechatronics Laboratory
Associated Project(s): Needle Steering for Brain Surgery
Number of pages: 4

Text Reference
Davneet Minhas, Johnathan A. Engh, Michele Marie Fenske, and Cameron Riviere, "Modeling of Needle Steering via Duty-Cycled Spinning," Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, August, 2007, pp. 2756-2759.

BibTeX Reference
@inproceedings{Minhas_2007_5985,
   author = "Davneet Minhas and Johnathan A Engh and Michele Marie Fenske and Cameron Riviere",
   title = "Modeling of Needle Steering via Duty-Cycled Spinning",
   booktitle = "Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society",
   pages = "2756-2759",
   month = "August",
   year = "2007",
}