An Aiming Device for Steerable Needles
An Aiming Device for Steerable Needles
复制标题
一种可操纵针的瞄准装置
DOI：
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
R. Webster
中科院分区：
文献类型：
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作者：
Margaret Rox;Maxwell Emerson;T. Ertop;Mengyu Fu;Inbar Fried;Janine Hoelscher;A. Kuntz;J. Granna;Jason E. Mitchell;M. Lester;Fabien Maldonado;E. Gillaspie;J. Akulian;R. Alterovitz;R. Webster
可操纵针能够穿过软组织的弯曲路径，这对于绕过障碍物和补偿与预期针路径的偏差是有用的。然而，到达期望目标的能力仍然取决于设置初始针发射姿势，使得期望目标在针的工作空间内。因此，期望具有在组织进入点处局部地调节针的发射取向的装置。在本文中，我们提出了一种用于可操纵针的新型瞄准器械，可局部调整针发射方向。它由肌腱驱动的凹口管设计组成，可以调整针的初始方向。
Steerable needles are capable of curved paths through soft tissues, which is useful for steering around obstacles and compensating for deviations from the intended needle path. However, the ability to reach a desired target still depends on setting the initial needle launch pose such that the desired target is within the needle’s workspace. Thus, it is desirable to have a means of adjusting the needle’s launch orientation locally at the tissue entry point. In this paper we present a new aiming device for steerable needles that locally adjusts needle launch orientation. It consists of a tendon-actuated, notched tube design, which enables adjustment of the needle’s initial orientation.