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Design Innovation Paper

Real-Time Mechanical-Encoding of Needle Shape for Image-Guided Medical and Surgical Interventions with Applications

[+] Author and Article Information
Mohamad Abbass

Schulich School of Medicine & Dentistry, Western University, London, ON, Canada
mabbass2018@meds.uwo.ca

Stacy Fan

Schulich School of Medicine & Dentistry, Western University, London, ON, Canada
sfan2018@meds.uwo.ca

Kevin Barker

Robarts Research Institute, Imaging Research Laboratories, Western University, London, ON, Canada
kbarker@robarts.ca

Aaron Fenster

Robarts Research Institute, Imaging Research Laboratories, Western University, London, ON, Canada
afenster@robarts.ca

Jeremy Cepek

Schulich School of Medicine & Dentistry, Western University, London, ON, Canada
jcepek2018@meds.uwo.ca

1Corresponding author.

ASME doi:10.1115/1.4041335 History: Received August 25, 2017; Revised August 12, 2018

Abstract

Error and uncertainty in needle placement can drastically impact the clinical outcome of both diagnostic and therapeutic needle-based procedures. In this work we aim to estimate the shape of a bent needle during insertion and provide a prototype design of a handheld steerable needle whose deflection is tracked in real-time. We calculate slope along a needle by measuring the movement of fixed wires running along its length with a compact image-based sensor. Through the use of the Euler-Bernoulli beam theory, we calculate shape and trajectory of a needle. We constructed a prototype needle with two wires fixed along its length, and measure wire-movement using a VCSEL mouse sensor. This method was able to estimate needle tip deflection within 1 mm in a variety of deflection scenarios in real-time. We then provide designs for a steerable needle device, and a handheld needle that provides the user with a simple display to convey needle deflection in tissue. We present a prototype estimating the shape of a bent needle during insertion in real-time, and designs for steerable needle device with a display to convey needle deflection in tissue. These methods could be applied to needle-based biopsy or therapy procedures to improve diagnostic accuracy or treatment delivery quality.

Copyright (c) 2018 by ASME
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