ArticleIEEE access : practical innovations, open solutions2020
Decoupling Steerability from Diameter: Helical Dovetail Laser Patterning for Steerable Needles.
Article in IEEE access : practical innovations, open solutions, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 9 papers.
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Who cites it
9 citing papers in PubMed, 18 citations in OpenAlex.
- Design and development of an endoscopic robotic system and deep reinforcement learning path planning algorithm for fine-needle biopsy of liver lesions.International journal of computer assisted radiology and surgery · 2026Article
- Safe Start Regions for Medical Steerable Needle Automation.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2025Article
- Model-based Parameter Selection for a Steerable Continuum Robot - Applications to Bronchoalveolar Lavage (BAL).IEEE robotics and automation letters · 2025Article
- A Survey of Needle Steering Approaches in Minimally Invasive Surgery.Annals of biomedical engineering · 2024Review
- Autonomous medical needle steering in vivo.Science robotics · 2023Article
- A Metric for Finding Robust Start Positions for Medical Steerable Needle Automation.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2022Article
- Backward Planning for a Multi-Stage Steerable Needle Lung Robot.IEEE robotics and automation letters · 2021Article
- A Recurrent Neural Network Approach to Roll Estimation for Needle Steering.Experimental robotics : the ... international symposium · 2021Article
- 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
15 authors at 3 institutions in 1 country.
Funding
Abstract
The maximum curvature of a steerable needle in soft tissue is highly sensitive to needle shaft stiffness, which has motivated use of small diameter needles in the past. However, desired needle payloads constrain minimum shaft diameters, and shearing along the needle shaft can occur at small diameters and high curvatures. We provide a new way to adjust needle shaft stiffness (thereby enhancing maximum curvature, i.e. "steerability") at diameters selected based on needle payload requirements. We propose helical dovetail laser patterning to increase needle steerability without reducing shaft diameter. Experiments in phantoms and ex vivo animal muscle, brain, liver, and inflated lung tissues demonstrate high steerability in soft tissues. These experiments use needle diameters suitable for various clinical scenarios, and which have been previously limited by steering challenges without helical dovetail patterning. We show that steerable needle targeting remains accurate with established controllers and demonstrate interventional payload delivery (brachytherapy seeds and radiofrequency ablation) through the needle. Helical dovetail patterning decouples steerability from diameter in needle design. It enables diameter to be selected based on clinical requirements rather than being carefully tuned to tissue properties. These results pave the way for new sensors and interventional tools to be integrated into high-curvature steerable needles.
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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.