Needle insertion with duty-cycled rotation into multiple media.
Needle insertion with duty-cycled rotation into multiple media.
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DOI：
10.1109/embc.2012.6346081
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
Riviere CN
中科院分区：
文献类型：
--
作者：
Lehocky CA;Riviere CN
薄的柔性针可以沿着非线性路径被操纵以到达人体内的深层解剖结构。这项研究建立在以前的工作，涉及转向斜面针头插入，同时旋转的占空比的方式。在这里，我们调查针材料和半径，占空比，和组织刚度如何影响针曲率。将针插入介质中，同时以指定的占空比旋转，并测量曲率。在所有针材料和半径以及组织硬度中观察到占空比和曲率之间的线性关系。根据这些观察结果，我们开发了一个模型，该模型封装了针和组织参数，以预测实现所需曲率所需的占空比。
Thin, flexible needles can be steered along nonlinear paths to reach deep anatomical structures within the human body. This study builds upon previous work involving steering of bevel-tipped needles by inserting while rotating in a duty-cycled fashion. Here we investigate how needle material and radius, duty cycle, and tissue stiffness affect needle curvature. Needles were inserted into media while rotated at a specified duty cycle and the curvature was measured. A linear relationship between duty cycle and curvature was observed across all needle materials and radii, and tissue stiffnesses. Following these observations, we developed a model that encapsulates needle and tissue parameters in order to predict the duty cycle needed to achieve a desired curvature.