ArticleIEEE transactions on bio-medical engineering2016
Methods for Improving the Curvature of Steerable Needles in Biological Tissue.
Article in IEEE transactions on bio-medical engineering, 2016. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 17 papers.
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Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
17 citing papers in PubMed, 64 citations in OpenAlex.
- Soft Micromanipulation Robot for Real-Time Adaptive Multimodal Operation.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Steering strategies for wasp inspired self propelled needles.Scientific reports · 2025Article
- Safe Start Regions for Medical Steerable Needle Automation.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2025Article
- A Survey of Needle Steering Approaches in Minimally Invasive Surgery.Annals of biomedical engineering · 2024Review
- Assessing Tissue Damage Around a Tape Spring Steerable Needle With Sharp Turn Radii.IEEE open journal of engineering in medicine and biology · 2024Article
- Autonomous medical needle steering in vivo.Science robotics · 2023Article
- Flexible Needle Steering with Tethered and Untethered Actuation: Current States, Targeting Errors, Challenges and Opportunities.Annals of biomedical engineering · 2023Review
- On the feasibility of wireless radio frequency ablation using nanowire antennas.APL materials · 2021Article
- Magnetic Needle Steering in Soft Phantom Tissue.Scientific reports · 2020Article
- Decoupling Steerability from Diameter: Helical Dovetail Laser Patterning for Steerable Needles.IEEE access : practical innovations, open solutions · 2020Article
- Mechanics of tissue rupture during needle insertion in transverse isotropic soft tissue.Medical & biological engineering & computing · 2019Article
- Design and Control of a Compact, Modular Robot for Transbronchial Lung Biopsy.Proceedings of SPIE--the International Society for Optical Engineering · 2019Article
- Design of an ultra-thin steerable probe for percutaneous interventions and preliminary evaluation in a gelatine phantom.PloS one · 2019Article
- Needle-tissue interactive mechanism and steering control in image-guided robot-assisted minimally invasive surgery: a review.Medical & biological engineering & computing · 2018Review
- Highly Articulated Robotic Needle Achieves Distributed Ablation of Liver Tissue.IEEE robotics and automation letters · 2017Article
- The influence of tip shape on bending force during needle insertion.Scientific reports · 2017Article
- Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and AutomationArticle
Corrections and comments
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Authors and funding
5 authors at 2 institutions in 1 country.
Funding
Abstract
objectiveRobotic needle steering systems have the potential to improve percutaneous interventions such as radiofrequency ablation of liver tumors, but steering techniques described to date have not achieved sufficiently small radius of curvature in biological tissue to be relevant to this application. In this study, the impact of tip geometry on steerable needle curvature was examined.
methodsFinite-element simulations and experiments with bent-tip needles in ex vivo liver tissue were performed. Motivated by the results of this analysis, a new articulated-tip steerable needle was designed, in which a distal section is actively switched by a robotic system between a straight tip (resulting in a straight path) and a bent tip (resulting in a curved path).
resultsSelection of tip length and angle can greatly improve curvature, with radius of curvature below 5 cm in liver tissue possible through judicious selection of these parameters. An articulated-tip mechanism allows the tip length and angle to be increased, while the straight configuration allows the needle tip to still pass through an introducer sheath and rotate inside the body.
conclusionValidation testing in liver tissue shows that the new articulated-tip steerable needle achieves smaller radius of curvature compared to bent-tip needles described in previous work. SIGNIFICANCE: Steerable needles with optimized tip parameters, which can generate tight curves in liver tissue, increase the clinical relevance of needle steering to percutaneous interventions.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.