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Research Papers

An Autoclavable Steerable Cannula Manual Deployment Device: Design and Accuracy Analysis

[+] Author and Article Information
Jessica Burgner

e-mail: jessica.burgner@vanderbilt.edu

Philip J. Swaney

e-mail: philip.j.swaney@vanderbilt.edu

Trevor L. Bruns

e-mail: trevor.l.bruns@vanderbilt.edu

Marlena S. Clark

e-mail: marlena.s.clark@vanderbilt.edu

D. Caleb Rucker

e-mail: daniel.c.rucker@vanderbilt.edu
Department of Mechanical Engineering,
Vanderbilt University,
2400 Highland Avenue,
Nashville, TN 37212

E. Clif Burdette

Acoustic MedSystems Inc.,
208 Burwash Avenue,
Savoy, IL 61874
e-mail: clifb@acousticmed.com

Robert J. Webster

Department of Mechanical Engineering,
Vanderbilt University,
2400 Highland Avenue,
Nashville, TN 37212
e-mail: robert.webster@vanderbilt.edu

Manuscript received February 3, 2012; final manuscript received September 14, 2012; published online November 21, 2012. Assoc. Editor: James Moore.

J. Med. Devices 6(4), 041007 (Nov 21, 2012) (7 pages) doi:10.1115/1.4007944 History: Received February 03, 2012; Revised September 14, 2012

Accessing a specific, predefined location identified in medical images is a common interventional task for biopsies and drug or therapy delivery. While conventional surgical needles provide little steerability, concentric tube continuum devices enable steering through curved trajectories. These devices are usually developed as robotic systems. However, manual actuation of concentric tube devices is particularly useful for initial transfer into the clinic since the Food and Drug Administration (FDA) and Institutional Review Board (IRB) approval process of manually operated devices is simple compared to their motorized counterparts. In this paper, we present a manual actuation device for the deployment of steerable cannulas. The design focuses on compactness, modularity, usability, and sterilizability. Further, the kinematic mapping from joint space to Cartesian space is detailed for an example concentric tube device. Assessment of the device’s accuracy was performed in free space, as well as in an image-guided surgery setting, using tracked 2D ultrasound.

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© 2012 by ASME
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Figures

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Fig. 1

Prototype of a manual actuation device for steerable cannulas. Mechanical parts are: (1) front plate, (2) lead screws, (3) linear rail, (4) lead screw stops, (5) PTFE washers, (6) control knobs, and (7) back plate.

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Fig. 2

Tube carrier mechanism. Exploded view with rotational housing (1), washer (2), worm gear (3), tube adapter (4), control knob (5), worm (6), main plate (7), lead screw nut (8), mounting plate (9), and linear guide block (10).

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Fig. 3

Detail views of the tube adapter (1). It is secured to the worm gear (2) with a set screw (3) to prevent rotation between them. The center hole is custom drilled to fit the specific tube it will hold (4). The tube is affixed to the tube adapter by three set screws (5) evenly distributed around its circumference.

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Fig. 4

Kinematics and workspace of a steerable cannula. (a) Parameter definitions for the kinematic mapping. Note that only the tube whose base position if specified by D2 is precurved into a circular shape. The outer tube and inner surgical instrument are elastic but initially straight. In sections ℓ1 and ℓ2, the middle tube deforms the others. (b) An example workspace for a cannula with L1=128.1 mm, L2=214.1 mm, k1=0.037 mm-1, and k2=0.0108 mm-1.

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Fig. 5

Experimental assessment of the manual actuation device’s accuracy. (a) Dimensions of the targeting phantom used in free space and ultrasound-guided targeting experiments in ethanol solution. (b) Experimental setup for freespace experiments.

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Fig. 6

Experimental setup for image-guided targeting experiment in ex vivo beef liver using tracked 2D ultrasound

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