Steering Control Improvement of Active Surgical Needle using Mosquito Proboscis-Inspired Cannula
Steering Control Improvement of Active Surgical Needle using Mosquito Proboscis-Inspired Cannula
复制标题
使用受蚊子长鼻启发的插管改进主动手术针的转向控制
DOI：
10.1115/1.4063200
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发表时间：
2023
期刊：
影响因子：
--
通讯作者：
Hutapea, Parsaoran
中科院分区：
文献类型：
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作者：
Acharya, Sharad;Kim, Doyoung;Hutapea, Parsaoran
与无源针相比，有源针已证明具有上级尖端偏转和更高的准确性，从而增强了经皮穿刺针插入手术的有效性。这些针通过组织到达目标的成功导航依赖于诸如致动机制、尖端形状和表面几何形状等因素。在这项研究中，我们研究了修改主动针杆表面几何形状的优势，重点是两个关键方面的改进：（a）针尖偏转和（B）组织插入过程中的轨迹跟踪。先前的研究已经表明，修改被动针的表面几何形状减少了摩擦力、组织位移和组织损伤。基于这些知识，并受到蚊子喙表面几何形状的激励，我们的研究提出了一种生物启发的设计修改的活动针套管。测试了带有蚊式探针吸入插管的活动针，以测量在聚氯乙烯（PVC）体模组织插入过程中插入力、尖端偏转和轨迹跟踪的变化。结果表明，被动斜尖针减少插入力高达10.67%。在活动针中，当套管被修改时，尖端偏转在150 mm插入深度处增加了12.91%。生物激发插管将活动针的轨迹跟踪误差改善了39.00%，同时利用了高达17.65%的较低控制占空比。头端偏转和跟踪控制的增强预期将通过实现更好的患者结局和显著降低并发症风险来改善经皮手术。
Active needles have demonstrated superior tip deflection and improved accuracy compared to passive needles enhancing the efficacy of percutaneous needle insertion procedures. Successful navigation of these needles through tissues to reach targets relies on factors such as the actuation mechanism, tip shape, and surface geometry. In this study, we investigated the advantages of modifying the surface geometry of the active needle shaft, focusing on two improving crucial aspects:(a) needle tip deflection and (b) trajectory tracking during tissue insertion. Prior research had shown that modifying the surface geometry of passive needles reduced friction force, tissue displacement, and tissue damage. Building on this knowledge and being motivated by the surface geometry of mosquito proboscis, our study proposed a bio-inspired design modification on the active needle cannula. The active needle with the mosquito proboscis-inspired cannula was tested to measure the changes in insertion force, tip deflection, and trajectory tracking during polyvinyl chloride (PVC) phantom tissue insertions. Results showed that passive bevel-tip needles reduced insertion force by up to 10.67%. In active needles, tip deflection increased by 12.91% at 150 mm insertion depth when the cannula was modified. The bio-inspired cannula improved trajectory tracking error in the active needle by 39.00% while utilizing up to 17.65% lower control duty cycle. The enhancement of tip deflection and tracking control is expected to improve percutaneous procedures by achieving better patient outcomes and significantly mitigating the risk of complications.