Toward a Miniaturized Needle Steering System With Path Planning for Obstacle Avoidance
Toward a Miniaturized Needle Steering System With Path Planning for Obstacle Avoidance
复制标题
DOI：
10.1109/tbme.2012.2227741
复制
发表时间：
2013-04-01
影响因子：
4.6
通讯作者：
Rodriguez y Baena, Ferdinando
中科院分区：
文献类型：
--
作者：
Ko, Seong Young;Rodriguez y Baena, Ferdinando
经皮介入是当今外科首选的诊断和治疗方法之一。最近，有人提出了一种受生物启发的针头转向系统，其中使用了一种新颖的“可编程斜面”来控制针尖角度，作为互锁针段之间的偏移量的函数。这种代号为软组织干预和神经外科导引(STING)的新设备可以在顺应介质中沿着任意曲线轨迹行驶，并通过嵌入式位置传感器进行控制。在这项研究中，我们提供了我们最新的小型化刺的尝试的细节，设计和制造了一种4毫米外径(OD)的两部分原型，包括独特的功能，如定制的套管针和插入机构，确保节段在插入过程中不会分离或弯曲。结果表明，该样机可以绕过紧弯(曲率半径接近70 mm)，这一性能可与同类最好的系统相媲美。为了满足STING特定的力学约束，本文还提出了一种具有避障功能的新型路径规划器，它可以产生满足最终轨迹最大曲率及其导数约束的可微轨迹。集成原型和路径规划器在明胶中的体外结果显示了准确的2-D轨迹跟踪(跟踪误差为0.1 mm，标准偏差为0.64 mm)，未来有很大的改进空间。
Percutaneous intervention is among the preferred diagnostic and treatment options in surgery today. Recently, a biologically inspired needle steering system was proposed, where a novel "programmable bevel" is employed to control the tip angle as a function of the offset between interlocked needle segments. The new device, codenamed soft tissue intervention and neurosurgical guide (STING), can steer along arbitrary curvilinear trajectories within a compliant medium, and be controlled by means of an embedded position sensor. In this study, we provide details of our latest attempt to miniaturize the STING, with the design and manufacture of a 4-mm outer diameter (OD) two-part prototype that includes unique features, such as a bespoke trocar and insertion mechanism, which ensure that the segments do not come apart or buckle during the insertion process. It is shown that this prototype can steer around tight bends (down to a radius of curvature of similar to 70 mm), a performance which is comparable to the best systems in this class. With the need to comply with the specific mechanical constraints of STING, this paper also introduces a novel path planner with obstacle avoidance, which can produce a differentiable trajectory that satisfies constraints on both the maximum curvature of the final trajectory and its derivative. In vitro results in gelatin for the integrated prototype and path planner demonstrate accurate 2-D trajectory following (0.1 mm tracking error, with 0.64 mm standard deviation), with significant scope for future improvements.