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Carnegie Mellon Robotics Institute

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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",
}

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