Technical Brief

Curving Clinical Biopsy Needles: Can We Steer Needles and Still Obtain Core Biopsy Samples?1

[+] Author and Article Information
Patrick S. Wellborn, Philip J. Swaney, Robert J. Webster, III

Department of Mechanical Engineering,
Vanderbilt University,
Nashville, TN 37235

DOI: 10.1115/1.4033783Manuscript received March 1, 2016; final manuscript received March 17, 2016; published online August 1, 2016. Editor: William Durfee.

J. Med. Devices 10(3), 030904 (Aug 01, 2016) (2 pages) Paper No: MED-16-1101; doi: 10.1115/1.4033783 History: Received March 01, 2016; Revised March 17, 2016

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Webster, R. J., III , Kim, J. S. , Cowan, N. J. , Chirikjian, G. S. , and Okamura, A. M. , 2006, “ Nonholonomic Modeling of Needle Steering,” Int. J. Robot. Res., 25(5–6), pp. 509–525. [CrossRef]
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Grahic Jump Location
Fig. 1

Flexure-tip incorporated into the Quick-Core biopsy tool. The bottom right inset shows a close-up of the flexure-tip with (a) the flexure point, (b) the beveled tip, and (c) the nitinol sheath. The top right inset shows a close-up of the notched wall nitinol sheath designed for increased curvature within soft tissue.

Grahic Jump Location
Fig. 4

The liver sample shown in the tray at the tip of the needle, with the sheath retracted. This illustrates that the needle can still perform a core biopsy when curved as illustrated in Fig. 3.

Grahic Jump Location
Fig. 3

Insertion into ex vivo bovine liver of core biopsy tool outfitted with a flexure tip: (a) a solid wall nitinol sheath and (b) a notched wall nitinol needle sheath (Fig. 1). We were able to collect the biopsy sample shown in Fig. 4, while the needle was curved.

Grahic Jump Location
Fig. 2

Needle curvature achieved in gelatin with the core biopsy tool outfitted with a flexure tip: (a) a solid wall nitinol sheath and (b) a notched wall nitinol needle sheath. This steerability will enable physicians to steer the needle during insertion to correct for alignment errors and tissue deformation.



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