An experimental study on the mechanics and control of SMA-actuated bioinspired needle
An experimental study on the mechanics and control of SMA-actuated bioinspired needle
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DOI：
10.1088/1748-3190/acfb65
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发表时间：
2023-09
影响因子：
3.4
通讯作者：
Sharada Acharya;P. Hutapea
中科院分区：
文献类型：
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作者：
Sharada Acharya;P. Hutapea
与被动针相比，主动针显示出更高的准确性和尖端偏转，这是经皮手术的一个关键优势。然而，这些针有效导航通过组织的能力取决于针-组织相互作用，这取决于尖端形状、套管表面几何形状和针插入方法。在这项研究中，我们评估了套管表面改性和振动插入技术的应用对形状记忆合金（SMA）驱动的主动针的性能的影响。这些功能的灵感来自蚊子喙的独特设计和皮肤穿刺技术，减少了针组织的相互作用力，从而提高了尖端偏转和转向精度。生物启发的功能，即，蚊子启发的套管设计和振动插入方法，在一个积极的针减少了26.24%的插入力，并增加了37.11%的尖端偏转前列腺模仿凝胶。此外，轨迹跟踪误差减少了48%，控制工作量减少了23.25%，从而提高了针的放置精度。这项研究突出了生物启发SMA驱动的主动针的潜力。预期跟踪控制更好，头端偏转增加，可能改善患者结局，并最大限度地降低经皮手术期间的并发症风险。
Active needles demonstrate improved accuracy and tip deflection compared to their passive needle counterparts, a crucial advantage in percutaneous procedures. However, the ability of these needles to effectively navigate through tissues is governed by needle-tissue interaction, which depends on the tip shape, the cannula surface geometry, and the needle insertion method. In this research, we evaluated the effect of cannula surface modifications and the application of a vibrational insertion technique on the performance of shape memory alloy (SMA)-actuated active needles. These features were inspired by the mosquito proboscis’ unique design and skin-piercing technique that decreased the needle tissue interaction force, thus enhancing tip deflection and steering accuracy. The bioinspired features, i.e., mosquito-inspired cannula design and vibrational insertion method, in an active needle reduced the insertion force by 26.24% and increased the tip deflection by 37.11% in prostate-mimicking gel. In addition, trajectory tracking error was reduced by 48%, and control effort was reduced by 23.25%, pointing towards improved needle placement accuracy. The research highlights the promising potential of bioinspired SMA-actuated active needles. Better tracking control and increased tip deflection are anticipated, potentially leading to improved patient outcomes and minimized risk of complications during percutaneous procedures.