Decoupling Steerability From Diameter: Helical Dovetail Laser Patterning for Steerable Needles
The maximum curvature of a steerable needle in soft tissue is highly sensitive to needle shaft stiffness, which has motivated use of small diameter needles in the past. However, desired needle payloads constrain minimum shaft diameters, and shearing along the needle shaft can occur at small diameter...
| Main Authors: | , , , , , , , , , , , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2020-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9211508/ |
| _version_ | 1818934557041229824 |
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| author | Margaret Rox Maxwell Emerson Tayfun Efe Ertop Inbar Fried Mengyu Fu Janine Hoelscher Alan Kuntz Josephine Granna Jason E. Mitchell Michael Lester Fabien Maldonado Erin A. Gillaspie Jason A. Akulian Ron Alterovitz Robert J. Webster |
| author_facet | Margaret Rox Maxwell Emerson Tayfun Efe Ertop Inbar Fried Mengyu Fu Janine Hoelscher Alan Kuntz Josephine Granna Jason E. Mitchell Michael Lester Fabien Maldonado Erin A. Gillaspie Jason A. Akulian Ron Alterovitz Robert J. Webster |
| author_sort | Margaret Rox |
| collection | DOAJ |
| description | The maximum curvature of a steerable needle in soft tissue is highly sensitive to needle shaft stiffness, which has motivated use of small diameter needles in the past. However, desired needle payloads constrain minimum shaft diameters, and shearing along the needle shaft can occur at small diameters and high curvatures. We provide a new way to adjust needle shaft stiffness (thereby enhancing maximum curvature, i.e. “steerability”) at diameters selected based on needle payload requirements. We propose helical dovetail laser patterning to increase needle steerability without reducing shaft diameter. Experiments in phantoms and ex vivo animal muscle, brain, liver, and inflated lung tissues demonstrate high steerability in soft tissues. These experiments use needle diameters suitable for various clinical scenarios, and which have been previously limited by steering challenges without helical dovetail patterning. We show that steerable needle targeting remains accurate with established controllers and demonstrate interventional payload delivery (brachytherapy seeds and radiofrequency ablation) through the needle. Helical dovetail patterning decouples steerability from diameter in needle design. It enables diameter to be selected based on clinical requirements rather than being carefully tuned to tissue properties. These results pave the way for new sensors and interventional tools to be integrated into high-curvature steerable needles. |
| first_indexed | 2024-12-20T05:06:10Z |
| format | Article |
| id | doaj.art-9d6df610138c4c448e2a0c5e8d2203e8 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-20T05:06:10Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-9d6df610138c4c448e2a0c5e8d2203e82022-12-21T19:52:23ZengIEEEIEEE Access2169-35362020-01-01818141118141910.1109/ACCESS.2020.30283749211508Decoupling Steerability From Diameter: Helical Dovetail Laser Patterning for Steerable NeedlesMargaret Rox0https://orcid.org/0000-0003-4271-9139Maxwell Emerson1https://orcid.org/0000-0003-2491-1979Tayfun Efe Ertop2https://orcid.org/0000-0001-7004-367XInbar Fried3Mengyu Fu4https://orcid.org/0000-0002-5237-1220Janine Hoelscher5https://orcid.org/0000-0003-3970-0613Alan Kuntz6https://orcid.org/0000-0003-0017-3932Josephine Granna7Jason E. Mitchell8Michael Lester9Fabien Maldonado10Erin A. Gillaspie11Jason A. Akulian12Ron Alterovitz13https://orcid.org/0000-0002-4492-1384Robert J. Webster14https://orcid.org/0000-0003-1389-224XDepartment of Mechanical Engineering, Vanderbilt University, Nashville, TN, USADepartment of Mechanical Engineering, Vanderbilt University, Nashville, TN, USADepartment of Mechanical Engineering, Vanderbilt University, Nashville, TN, USADepartment of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, USADepartment of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, USADepartment of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, USARobotics Center, The University of Utah, Salt Lake City, UT, USADepartment of Mechanical Engineering, Vanderbilt University, Nashville, TN, USADepartment of Mechanical Engineering, Vanderbilt University, Nashville, TN, USAVanderbilt Institute for Surgery and Engineering, Vanderbilt University, Nashville, TN, USAVanderbilt Institute for Surgery and Engineering, Vanderbilt University, Nashville, TN, USAVanderbilt Institute for Surgery and Engineering, Vanderbilt University, Nashville, TN, USADivision of Pulmonary Diseases and Critical Care Medicine, University of North Carolina at Chapel Hill, Chapel Hill, NC, USADepartment of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, USADepartment of Mechanical Engineering, Vanderbilt University, Nashville, TN, USAThe maximum curvature of a steerable needle in soft tissue is highly sensitive to needle shaft stiffness, which has motivated use of small diameter needles in the past. However, desired needle payloads constrain minimum shaft diameters, and shearing along the needle shaft can occur at small diameters and high curvatures. We provide a new way to adjust needle shaft stiffness (thereby enhancing maximum curvature, i.e. “steerability”) at diameters selected based on needle payload requirements. We propose helical dovetail laser patterning to increase needle steerability without reducing shaft diameter. Experiments in phantoms and ex vivo animal muscle, brain, liver, and inflated lung tissues demonstrate high steerability in soft tissues. These experiments use needle diameters suitable for various clinical scenarios, and which have been previously limited by steering challenges without helical dovetail patterning. We show that steerable needle targeting remains accurate with established controllers and demonstrate interventional payload delivery (brachytherapy seeds and radiofrequency ablation) through the needle. Helical dovetail patterning decouples steerability from diameter in needle design. It enables diameter to be selected based on clinical requirements rather than being carefully tuned to tissue properties. These results pave the way for new sensors and interventional tools to be integrated into high-curvature steerable needles.https://ieeexplore.ieee.org/document/9211508/Medical roboticssteerable needlessurgical roboticsmedical devices |
| spellingShingle | Margaret Rox Maxwell Emerson Tayfun Efe Ertop Inbar Fried Mengyu Fu Janine Hoelscher Alan Kuntz Josephine Granna Jason E. Mitchell Michael Lester Fabien Maldonado Erin A. Gillaspie Jason A. Akulian Ron Alterovitz Robert J. Webster Decoupling Steerability From Diameter: Helical Dovetail Laser Patterning for Steerable Needles IEEE Access Medical robotics steerable needles surgical robotics medical devices |
| title | Decoupling Steerability From Diameter: Helical Dovetail Laser Patterning for Steerable Needles |
| title_full | Decoupling Steerability From Diameter: Helical Dovetail Laser Patterning for Steerable Needles |
| title_fullStr | Decoupling Steerability From Diameter: Helical Dovetail Laser Patterning for Steerable Needles |
| title_full_unstemmed | Decoupling Steerability From Diameter: Helical Dovetail Laser Patterning for Steerable Needles |
| title_short | Decoupling Steerability From Diameter: Helical Dovetail Laser Patterning for Steerable Needles |
| title_sort | decoupling steerability from diameter helical dovetail laser patterning for steerable needles |
| topic | Medical robotics steerable needles surgical robotics medical devices |
| url | https://ieeexplore.ieee.org/document/9211508/ |
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