Print Email Facebook Twitter Endpoint accuracy in manual control of a steerable needle Title Endpoint accuracy in manual control of a steerable needle Author van de Berg, N.J. (TU Delft Medical Instruments & Bio-Inspired Technology) Dankelman, J. (TU Delft Medical Instruments & Bio-Inspired Technology) van den Dobbelsteen, J.J. (TU Delft Medical Instruments & Bio-Inspired Technology) Date 2017 Abstract PurposeTo study the ability of a human operator to manually correct for errors in the needle insertion path without partial withdrawal of the needle by means of an active, tip-articulated steerable needle.Materials and MethodsThe needle is composed of a 1.32-mm outer-diameter cannula, with a flexure joint near the tip, and a retractable stylet. The bending stiffness of the needle resembles that of a 20-gauge hypodermic needle. The needle functionality was evaluated in manual insertions by steering to predefined targets and a lateral displacement of 20 mm from the straight insertion line. Steering tasks were conducted in 5 directions and 2 tissue simulants under image guidance from a camera. The repeatability in instrument actuations was assessed during 100 mm deep automated insertions with a linear motor. In addition to tip position, tip angles were tracked during the insertions.ResultsThe targeting error (mean absolute error ± standard deviation) during manual steering to 5 different targets in stiff tissue was 0.5 mm ± 1.1. This variability in manual tip placement (1.1 mm) was less than the variability among automated insertions (1.4 mm) in the same tissue type. An increased tissue stiffness resulted in an increased lateral tip displacement. The tip angle was directly controlled by the user interface, and remained unaffected by the tissue stiffness.ConclusionsThis study demonstrates the ability to manually steer needles to predefined target locations under image guidance. To reference this document use: http://resolver.tudelft.nl/uuid:14b3c394-bb1c-4cc5-8b6b-d2953ff09e24 DOI https://doi.org/10.1016/j.jvir.2016.07.018 Embargo date 2017-10-06 ISSN 1051-0443 Source Journal of Vascular and Interventional Radiology, 28 (2), 276-283 Part of collection Institutional Repository Document type journal article Rights © 2017 N.J. van de Berg, J. Dankelman, J.J. van den Dobbelsteen Files PDF vandeBerg2016_nolayout.pdf 1.49 MB Close viewer /islandora/object/uuid:14b3c394-bb1c-4cc5-8b6b-d2953ff09e24/datastream/OBJ/view