Experimental validation of curvature tracking with a programmable bevel-tip steerable needle

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Title: Experimental validation of curvature tracking with a programmable bevel-tip steerable needle
Author(s): Secoli, R
Rodriguez y Baena, F
Item Type: Conference Paper
Abstract: Needle steering systems are a topic of increasing research interest due to the many potential advantages associated with the ability to reach deep-seated targets while avoiding obstacles. Existing embodiments, such as those designed around a fixed bevel tip, are necessarily disruptive to the substrate, with the potential to cause a target to move away from the insertion trajectory, as well as potentially increasing the extent of tissue trauma at the needle interface, when compared to straight needles. To alleviate these issues, we proposed a biologically inspired design, which can steer without the need for duty-cycle spinning along the insertion axis or any active mechanisms at the tip. In this work, we demonstrate for the first time that our needle is able to steer within a deformable substrate, along with a user-defined trajectory in three-dimensional space. A simplified kinematic model is reported, which is subsequently used to design an adaptive strategy enabling the tracking of arbitrary curvatures along any given reference plane. Experimental results in gelatin are used to validate our model, as well as the performance of the controller under laboratory conditions.
Publication Date: 9-Apr-2018
Date of Acceptance: 13-Feb-2018
URI: http://hdl.handle.net/10044/1/57162
DOI: https://dx.doi.org/10.1109/ISMR.2018.8333302
Publisher: IEEE
Copyright Statement: © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor/Funder: Commission of the European Communities
Funder's Grant Number: 688279
Conference Name: International Symposium on Medical Robotics
Copyright Statement: © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Publication Status: Published
Start Date: 2018-03-01
Finish Date: 2018-03-03
Conference Place: Atlanta, Georgia, USA
Appears in Collections:Faculty of Engineering
Mechanical Engineering



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