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A mechanics-based model for 3D steering of programmable bevel-tip needles

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Title: A mechanics-based model for 3D steering of programmable bevel-tip needles
Authors: Watts, TE
Secoli, R
Rodriguez y Baena, F
Item 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.
Issue Date: 1-Apr-2019
Date of Acceptance: 2-Oct-2018
URI: http://hdl.handle.net/10044/1/65206
DOI: https://dx.doi.org/10.1109/TRO.2018.2879584
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/Funder: Commission of the European Communities
Funder's Grant Number: 688279
Keywords: 0801 Artificial Intelligence and Image Processing
0906 Electrical and Electronic Engineering
0913 Mechanical Engineering
Industrial Engineering & Automation
Publication Status: Published
Online Publication Date: 2018-12-11
Appears in Collections:Mechanical Engineering
Faculty of Engineering



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