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Special Section Technical Briefs

Development of Self-Actuating Flexible Needle System for Surgical Procedures1

[+] Author and Article Information
F. O. Maria Joseph, M. Kumar, T. Podder

Department of Radiation Oncology,
Case Western Reserve University,
Cleveland, OH 44106

P. Hutapea

Department of Mechanical Engineering,
Temple University,
Philadelphia, PA 19122

A. Dicker, Y. Yu

Department of Radiation Oncology,
Thomas Jefferson University,
Philadelphia, PA 19107

Accepted and presented at The Design of Medical Devices Conference (DMD2015), April 13-16, 2015, Minneapolis, MN, USA.

Manuscript received March 3, 2015; final manuscript received March 17, 2015; published online April 24, 2015. Editor: Arthur Erdman.

J. Med. Devices 9(2), 020945 (Jun 01, 2015) (2 pages) Paper No: MED-15-1138; doi: 10.1115/1.4030221 History: Received March 03, 2015; Revised March 17, 2015; Online April 24, 2015

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References

Orlando, M. F., Franz, K., Luan, Y., Zhao, Y., Datla, N., Hutapea, P., Dicker, A., and Podder, T., 2014, “Development of a Coordinated Controller for Robot-Assisted Shape Memory Alloy Actuated Needle for Prostate Brachytherapy,” 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Chicago, Aug. 26–30, pp. 357–360. [CrossRef]
Orlando, M. F., Kumar, M., Franz, K., Konh, B., Hutapea, P., Zhao, Y., Dicker, A., Yu, Y., and Podder, T., 2014, “Control of Shape Memory Alloy Actuated Flexible Needle Using Multimodal Sensory Feedbacks,” 3rd International Conference on Control, Robotics and Informatics (ICCRI 2014), Hong Kong, Dec. 26–28.

Figures

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Fig. 1

Schematic of the needling system guided by the robot and supervised by a clinician

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Fig. 2

Developed needle prototype utilized for the control experiment

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Fig. 3

Ultrasound imaging feedback based closed loop control of the flexible needle

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Fig. 4

Trajectory tracking with U.S. imaging feedback. (a) Trajectory matching. (b) Error norm plot.

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Fig. 5

Trajectory tracking with EM sensor feedback. (a) Trajectory matching. (b) Error norm plot.

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