Steerable needles

3-D Path-Following Control for Steerable Needles with Fiber Bragg Gratings in Multi-Core Fibers

3-D Path-Following Control for Steerable Needles with Fiber Bragg Gratings in Multi-Core Fibers
3-D Path-Following Control for Steerable Needles with Fiber Bragg Gratings in Multi-Core Fibers 789 444 IEEE Transactions on Biomedical Engineering (TBME)
This is the first study to demonstrate the safety and performance benefits of fiber Bragg gratings in multi-core fibers for autonomous steerable needle navigation, implemented here within a biologically inspired neurosurgical system. read more

Computer Assisted Planning for Curved Laser Interstitial Thermal Therapy
Author(s)3: M. Pinzi, V. N. Vakharia, B. Y. Hwang, W. S. Anderson, J. S. Duncan, F. Rodriguez y Baena
Computer Assisted Planning for Curved Laser Interstitial Thermal Therapy 170 178 IEEE Transactions on Biomedical Engineering (TBME)
We present a detailed retrospective study on clinical epilepsy patient data, showing the potential advantage of following a curved path in the brain for both insertion and ablation purposes. Curved trajectories that follow the contours of given anatomy, as the amygdala-hippocampal complex (AHC) in the case of refractory epilepsy, were associated with a statistically significant improvement compared to their straight counterpart. Benefits were measured in terms of several quantitative metrics including percentage coverage of the ablation region and a published risk score to quantify, among other aspects, the safe distance between the ablation trajectory and critical brain regions. read more

Magnetic Control of a Flexible Needle in Neurosurgery
Author(s)3: Ayoung Hong, Andrew J Petruska, Ajmal Zemmar, Bradley J Nelson
Magnetic Control of a Flexible Needle in Neurosurgery 170 177 IEEE Transactions on Biomedical Engineering (TBME)
This paper presents a flexible needle steering system with magnetic control and fluoroscopic guidance for neurosurgical procedures. A permanent magnet at the proximal end of a flexible needle is steered by an external magnetic field, and the resultant tip-deflection angle bends the flexible body. The linear motion at the distal end of the needle actuates the needle insertion in soft tissues. The proposed needle steering system was tested using an in vitro brain phantom and ex vivo pig brain; the flexible needle was successfully maneuvered to follow the predefined straight and curved trajectories. read more
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