A flexure-based steerable needle: high curvature with reduced tissue damage.
A flexure-based steerable needle: high curvature with reduced tissue damage.
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DOI：
10.1109/tbme.2012.2230001
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发表时间：
2013-04
期刊：
影响因子：
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通讯作者：
Webster RJ 3rd
中科院分区：
文献类型：
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作者：
Swaney PJ;Burgner J;Gilbert HB;Webster RJ 3rd
在寻求设计更高曲率的斜面导向针的过程中，扭结的斜面针尖一直是目前提出的最成功的方法之一。然而，以这种方式增强可操纵性所付出的代价是增加了组织损伤，因为当轴向旋转时，预弯尖端将局部螺旋路径切割到组织中。当需要闭环控制时，这是有问题的，因为控制器通常会要求针快速旋转，当使用占空比(即，连续的针旋转)来调整曲率时，这尤其有问题。在这篇文章中，我们提出了一种新的基于弯曲的针尖设计，它提供了扭结的斜尖针的增强的可控性，同时将组织损伤降至最低。
In the quest to design higher curvature bevel-steered needles, kinked bevel-tips have been one of the most successful approaches yet proposed. However, the price to be paid for enhancing steerability in this way has been increased tissue damage, since the prebent tip cuts a local helical path into tissue when axially rotated. This is problematic when closed-loop control is desired, because the controller will typically require the needle to rotate rapidly, and it is particularly problematic when duty cycling (i.e., continual needle spinning) is used to adjust curvature. In this paper, we propose a new flexure-based needle tip design that provides the enhanced steerability of kinked bevel-tip needles, while simultaneously minimizing tissue damage.