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Modeling of Needle Steering via Duty-Cycled Spinning
D. Minhas, J.A. Engh, MD, M.M. Fenske, and C. 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.

Notes

Sponsor: Simeon M. Jones, Jr. and Katharine Reed Jones Fund and the Walter L. Copeland Fund of The Pittsburgh Foundation

Associated center: MRTC
Associated lab/group: Medical Instrumentation Lab
Associated project: Needle Steering for Brain Surgery

Number of pages: 4

Text Reference

D. Minhas, J.A. Engh, MD, M.M. Fenske, and C. 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 Engh, MD, Johnathan A 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",
   month = "August",
   year = "2007",
   pages = "2756-2759"
}