ArticleScientific reports2017
The influence of tip shape on bending force during needle insertion.
Article in Scientific reports, 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 14 papers.
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Who cites it
14 citing papers in PubMed.
- Robotic-Assisted Computed Tomography-Guided Percutaneous Bone Procedures: A Prospective Multicenter Pilot Study.Cardiovascular and interventional radiology · 2026Trial
- Setting Sail in Hip Arthroscopy: The "Rudder Technique" for Spinal Needle Access Through the Mid-anterior Portal.Arthroscopy techniques · 2025Article
- Experimental Study of Needle Insertion into Gerbil Tympanic Membrane.Journal of the Association for Research in Otolaryngology : JARO · 2024Article
- A Survey of Needle Steering Approaches in Minimally Invasive Surgery.Annals of biomedical engineering · 2024Review
- Model-free control for autonomous prevention of adverse events in robotics.Frontiers in robotics and AI · 2023Article
- Electrochemotherapy treatment safety under parallel needle deflection.Scientific reports · 2022Article
- Steerable needles for radio-frequency ablation in cirrhotic livers.Scientific reports · 2021Article
- Needle deflection and tissue sampling length in needle biopsy.Journal of the mechanical behavior of biomedical materials · 2020Article
- Magnetic Needle Steering in Soft Phantom Tissue.Scientific reports · 2020Article
- Developing a novel force forecasting technique for early prediction of critical events in robotics.PloS one · 2020Article
- MRI-driven design of customised 3D printed gynaecological brachytherapy applicators with curved needle channels.3D printing in medicine · 2019Article
- Flexible elastomer patch with vertical silicon nanoneedles for intracellular and intratissue nanoinjection of biomolecules.Science advances · 2018Article
- Evaluation of robot-assisted MRI-guided prostate biopsy: needle path analysis during clinical trials.Physics in medicine and biology · 2018Article
- Spinal dura mater: biophysical characteristics relevant to medical device development.Journal of medical engineering & technology · 2018Review
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Authors and funding
5 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Steering of needles involves the planning and timely modifying of instrument-tissue force interactions to allow for controlled deflections during the insertion in tissue. In this work, the effect of tip shape on these forces was studied using 10 mm diameter needle tips. Six different tips were selected, including beveled and conical versions, with or without pre-bend or pre-curve. A six-degree-of-freedom force/torque sensor measured the loads during indentations in tissue simulants. The increased insertion (axial) and bending (radial) forces with insertion depth - the force-displacement slopes - were analyzed. Results showed that the ratio between radial and axial forces was not always proportional. This means that the tip load does not have a constant orientation, as is often assumed in mechanics-based steering models. For all tip types, the tip-load assumed a more radial orientation with increased axial load. This effect was larger for straight tips than for pre-bent or pre-curved tips. In addition, the force-displacement slopes were consistently higher for (1) increased tip angles, and for (2) beveled tips compared to conical tips. Needles with a bent or curved tip allow for an increased bending force and a decreased variability of the tip load vector orientation.
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