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