Hand-held steerable needle device
Hand-held steerable needle device
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DOI：
10.1109/tmech.2005.848300
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发表时间：
2005-06-01
影响因子：
6.4
通讯作者：
Rohling, R
中科院分区：
文献类型：
--
作者：
Okazawa, S;Ebrahimi, R;Rohling, R
微创经皮医疗程序在当前临床实践中被广泛接受。然而，在现有技术下，这些程序具有挑战性，需要高水平的专业知识才能成功执行。本文介绍了一种用于经皮介入的新型可操纵针器械，允许医生在插入过程中操纵针尖，从而缓解了与到达目标相关的挑战。转向概念使用稍微修改，现成的医疗活检针。使用20号针头在组织模拟体模中证明了100 mm针头插入期间超过30 mm的受控侧向转向运动。已经构建了一种手持式电动装置，其致动针座以在尖端产生所需的转向方向和幅度。操纵命令可以通过用户输入或通过计算机控制来提供。对于后一种情况，已经开发了一种软件路径规划的方法，该方法自动将针转向目标。
Minimally invasive percutaneous medical procedures are widely accepted in current clinical practice. However, with current techniques, the procedures are challenging and a high level of expertise is required to perform them successfully. This paper presents a novel steerable needle device for percutaneous interventions that allows the physician to steer the tip of the needle during insertion which eases the challenge associated with reaching the target. The steering concept uses slightly modified, off-the-shelf medical biopsy needles. A controlled lateral steering motion of over 30 mm during a 100-mm needle insertion is demonstrated with a 20-gauge needle in tissue-mimicking phantoms. A hand-held, motorized device has been built that actuates the needle base to produce a desired steering direction and magnitude at the tip. Steering commands may be supplied either by user input or by computer control. For the latter case, a method of software path planning has been developed that automatically steers the needle to a target.