title: Modeling of needle steering via duty-cycled spinning.
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.
authors.affiliation: Biomedical Engineering Department, Carnegie Mellon University, Pittsburgh, PA 15213, USA. dminhas@cmu.edu
authors.forename: Davneet S
authors.initials: DS
authors.lastname: Minhas
authors.forename: Johnathan A
authors.initials: JA
authors.lastname: Engh
authors.forename: Michele M
authors.initials: MM
authors.lastname: Fenske
authors.forename: Cameron N
authors.initials: CN
authors.lastname: Riviere
mesh_terms: D003198:Computer Simulation; D005780:Gelatin / Q000737:chemistry; D008962:Models, Theoretical; D009038:Motion; D009339:Needles; D011677:Punctures; D012371:Robotics
chemical_list: D005780:Gelatin