A mechanics-based model for 3D steering of programmable bevel-tip needles
File(s)
Published version
Author(s)
Watts, Thomas Edward
Secoli, Riccardo
Rodriguez y Baena, Ferdinando
Type
Journal Article
Abstract
We present a model for the steering of programmable bevel-tip needles, along with a set of experiments demonstrating the 3D steering performance of a new, clinically viable, 4-segment, pre-production prototype. A multi-beam approach, based on Euler-Bernoulli beam theory, is used to model the novel multi-segment design of these needles. Finite element simulations for known loads are used to validate the multi-beam deflection model. A clinically sized (2.5 mm outer diameter), 4-segment programmable bevel-tip needle, manufactured by extrusion of a medical-grade polymer, is used to conduct an extensive set of experimental trials to evaluate the steering model. For the first time, we demonstrate the ability of the 4-segment needle design to steer in any direction with a maximum achievable curvature of 0.0192±0.0014 mm⁻¹. Finite element simulations confirm that the multi-beam approach produces a good model fit for tip deflections, with a root-mean-square deviation (RMSD) in modeled tip deflection of 0.2636 mm. We perform a parameter optimization to produce a best-fit steering model for the experimental trials, with a RMSD in curvature prediction of 1.12×10⁻³ mm⁻¹.
Date Issued
2019-04-01
Date Acceptance
2018-10-02
Citation
IEEE Transactions on Robotics, 2019, 35 (2), pp.371-386
ISSN
1552-3098
Publisher
Institute of Electrical and Electronics Engineers
Start Page
371
End Page
386
Journal / Book Title
IEEE Transactions on Robotics
Volume
35
Issue
2
Sponsor
Commission of the European Communities
Grant Number
688279
Subjects
0801 Artificial Intelligence and Image Processing
0906 Electrical and Electronic Engineering
0913 Mechanical Engineering
Industrial Engineering & Automation
Publication Status
Published
Date Publish Online
2018-12-11