Magnetic Control of a Flexible Needle in Neurosurgery
Magnetic Control of a Flexible Needle in Neurosurgery
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DOI：
10.1109/tbme.2020.3009693
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发表时间：
2021-02-01
影响因子：
4.6
通讯作者：
Nelson, Bradley J.
中科院分区：
文献类型：
--
作者：
Hong, Ayoung;Petruska, Andrew J.;Nelson, Bradley J.
微创神经外科手术不需要在颅骨上开大的切口和开口来进入所需的大脑区域，这通常比传统的开放式神经外科手术恢复得更快，并发症也更少。对于通过植入神经刺激器和热凝探针治疗的疾病，目前的治疗方法包括一根直的刚性针，这限制了手术轨迹，限制了可能的靶标数量和各自靶标的自由度。具有柔性体的可操纵针可以克服这些限制。在本文中，我们提出了一个灵活的针导向系统与磁和透视引导神经外科手术。柔性针近端永磁体受外部磁场引导，产生的尖端偏转角使柔性体像斜尖针一样弯曲。基于非完整自行车模型建立了磁针的运动模型，并采用链式变换实现了前馈和反馈闭环控制策略。通过体外和离体实验对该方法进行了研究。
Minimally invasive neurosurgery does not require large incisions and openings in the skull to access the desired brain region, which often results in a faster recovery with fewer complications than traditional open neurosurgery. For disorders treated by the implantation of neurostimulators and thermocoagulation probes, current procedures incorporate a straight rigid needle, which restricts surgical trajectories and limits the number of possible targets and degrees of freedom at the respective target. A steerable needle with a flexible body could overcome these limitations. In this paper, we present a flexible needle steering system with magnetic and fluoroscopic guidance for neurosurgical procedures. A permanent magnet at the proximal end of a flexible needle is steered by an external magnetic field, and the resultant tip-deflection angle bends the flexible body like a bevel-tip needle. We implemented a kinematic model for the magnetic needle derived from a nonholonomic bicycle model and a closed-loop control strategy with feed-forward and feed-back components using a chained-form transformation. The proposed needle steering method was investigated through in vitro and ex vivo experiments.