Torsional Dynamics of Steerable Needles: Modeling and Fluoroscopic Guidance

John P Swensen; MingDe Lin; Allison M Okamura; Noah J Cowan

doi:10.1109/TBME.2014.2326161

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Torsional Dynamics of Steerable Needles: Modeling and Fluoroscopic Guidance

Journal article

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Torsional Dynamics of Steerable Needles: Modeling and Fluoroscopic Guidance

John P Swensen, MingDe Lin, Allison M Okamura and Noah J Cowan

IEEE transactions on biomedical engineering, Vol.61(11), pp.2707-2717

11/2014

DOI: https://doi.org/10.1109/TBME.2014.2326161

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https://hdl.handle.net/2376/107091

PMCID: PMC5541402

PMID: 24860026

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Abstract

Torque

Dynamics

Kinematics

Needles

Mathematical model

Springs

Robots

Needle insertions underlie a diversity of medical interventions. Steerable needles provide a means by which to enhance existing needle-based interventions and facilitate new ones. Tip-steerable needles follow a curved path and can be steered by twisting the needle base during insertion, but this twisting excites torsional dynamics that introduce a discrepancy between the base and tip twist angles. Here, we model the torsional dynamics of a flexible rod-such as a tip-steerable needle-during subsurface insertion and develop a new controller based on the model. The torsional model incorporates time-varying mode shapes to capture the changing boundary conditions inherent during insertion. Numerical simulations and physical experiments using two distinct setups-stereo camera feedback in semitransparent artificial tissue and feedback control with real-time X-ray imaging in optically opaque artificial tissue-demonstrate the need to account for torsional dynamics in control of the needle tip.

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Title: Torsional Dynamics of Steerable Needles: Modeling and Fluoroscopic Guidance
Creators: John P Swensen - Department of Mechanical Engineering and Materials Science, Yale University, New Haven, CT, USA
MingDe Lin - Clinical Informatics, Interventional, and Translational Solutions, Philips Research North America, Briarcliff Manor, NY, USA
Allison M Okamura - Department of Mechanical Engineering, Stanford University, Stanford, CA, USA
Noah J Cowan - Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA
Publication Details: IEEE transactions on biomedical engineering, Vol.61(11), pp.2707-2717
Academic Unit: Mechanical and Materials Engineering, School of
Publisher: IEEE
Grant note: R01-EB006435 / National Institutes of Health (10.13039/100000002)
Identifiers: 99900546708301842
Language: English
Resource Type: Journal article