ArticleMedical engineering & physics2022
Kinematics modelling and dynamics analysis of an SMA-actuated active flexible needle for feedback-controlled manipulation in phantom.
Article in Medical engineering & physics, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 6 papers.
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Who cites it
6 citing papers in PubMed.
- Towards Design and Development of an MRI Conditional Robot to Enable Curvilinear Transperineal Prostate Biopsy.The international journal of medical robotics + computer assisted surgery : MRCAS · 2024Article
- Article
- A Survey of Needle Steering Approaches in Minimally Invasive Surgery.Annals of biomedical engineering · 2024Review
- A mechanics-based model for a tendon-driven active needle navigating inside a multiple-layer tissue.Journal of robotic surgery · 2024Article
- A Model to Predict Deflection of an Active Tendon-Driven Notched Needle Inside Soft Tissue.Journal of engineering and science in medical diagnostics and therapy · 2024Article
- Teleoperated and Automated Control of a Robotic Tool for Targeted Prostate Biopsy.Journal of medical robotics researchArticle
Corrections and comments
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Authors and funding
2 authors.
Funding
Abstract
Percutaneous needle-based procedures such as prostate brachytherapy demands for accurate placement of the needle tip at target locations. Recently, robotic needle insertion systems have been made available to help physicians in needle guidance and control inside tissue. It is often challenging to obtain an accurate and real-time position of the needle tip in clinical practice using medical imaging techniques. However, this information is vital for closed-loop control of the needles inside tissue. This work presents an SMA-actuated active flexible needle that is controlled inside a phantom without a need for a position sensor or a medical imaging device. The needle tip position feedback is found using shape sensing capabilities of the embedded SMA-wire actuators and a force sensor at the needle base. Three models were characterized and used to estimate needle tip position in real time. The control scheme was then tested on the active flexible needle to track a desired triangular trajectory in a phantom. It was shown that the control scheme presented in this work was able to manipulate the needle in this path with a reasonable accuracy.
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Registered trials
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