Top

Published in:

01-12-2024 | Brachytherapy | Research

A mechanics-based model for a tendon-driven active needle navigating inside a multiple-layer tissue

Authors: Blayton Padasdao, Bardia Konh

Published in: Journal of Robotic Surgery | Issue 1/2024

Abstract

Percutaneous minimally invasive procedures such brachytherapy and biopsy require a flexible active needle for precise movement inside tissue and accurate placement at target positions for higher success rates for diagnosis and treatment, respectively. In a previous work, we presented a tendon-driven active needle to navigate inside tissue. This work presents a new model to predict the deflection of the tendon-driven needle while steering in a multiple-layer soft tissue. A multi-layer phantom tissue with different localized stiffness was developed for needle insertion tests followed by indentation tests to identify its mechanical properties. Using a robot that inserts and actively bends the tendon-driven needle inside the soft tissue while simultaneously tracking the needle through ultrasound imaging, various experiments were conducted for model validation. The proposed model was verified by comparing the simulation results to the empirical data. The results demonstrated the accuracy of the model in predicting the tendon-driven needle deflection in multiple-layer (different stiffness) soft tissue.

Brumfiel TA, Sarma A, Desai JP (2022) Towards FBG-based end-effector force estimation for a steerable continuum robot. Int Symp Med Robot.

Ertop TE, et al (2022) Towards suturing from within the urethra using concentric tube robots: first experiences in biological tissues. 2022 Int Symp Med Robot ISMR. https://doi.org/10.1109/ISMR48347.2022.9807548

Burgner-Kahrs J, Rucker DC, Choset H (2015) Continuum robots for medical applications: a survey. IEEE Trans Robot 31(6):1261–1280. https://doi.org/10.1109/TRO.2015.2489500CrossRef

De Jong TL, van de Berg NJ, Tas L, Moelker A, Dankelman J, van den Dobbelsteen JJ (2017) Needle placement errors: do we need steerable needles in interventional radiology? Med Devices Evid Res 37(3):259–265. https://doi.org/10.2147/MDER.S160444CrossRef

Siegel RL, Giaquinto AN, Jemal A (2024) Cancer statistics, 2024. CA Cancer J Clin 74(1):12–49. https://doi.org/10.3322/caac.21820

Karimi S, Konh B (2020) Self-sensing feedback control of multiple interacting shape memory alloy actuators in a 3D steerable active flexible needle. J Intell Mater Syst Struct 31(12):1524–1540CrossRef

Karimi S, Konh B (2022) Kinematics modelling and dynamics analysis of an SMA-actuated active flexible needle for feedback-controlled manipulation in phantom. Med Eng Phys. https://doi.org/10.1016/j.medengphy.2022.103846CrossRefPubMedPubMedCentral

Podder R, Zheng Y, Biswas T, Traughber BJ, Ove R, Podder TK (2023) Efficacy of curvilinear needle implantation for prostate HDR brachytherapy. Int J Radiat Oncol Biol Phys 117(2):S143–S144. https://doi.org/10.1016/j.ijrobp.2023.06.556CrossRef

Konh B, Padasdao B, Batsaikhan Z, Lederer J (2021) Steering a tendon-driven needle in high-dose-rate prostate brachytherapy for patients with pubic arch interference in Int Symp Med Robot (ISMR) 1–7

10.

Padasdao B, Varnamkhasti ZK, Konh B (2020) 3D steerable biopsy needle with a motorized manipulation system and ultrasound tracking to navigate inside tissue. J Med Robot Res. https://doi.org/10.1142/S2424905X21500033CrossRef

11.

Padasdao B, Batsaikhan Z, Lafreniere S, Rabiei M, Konh B (2022) Modeling and operator control of a robotic tool for bidirectional manipulation in targeted prostate biopsy in Int Symp Med Robot (ISMR) 1–7

12.

Padasdao B, Lafreniere S, Rabiei M, Batsaikhan Z, Konh B (2023) Teleoperated and automated control of a robotic tool for targeted prostate biopsy. J Med Robot Res 8(1&2):2340002. https://doi.org/10.1142/S2424905X23400020CrossRefPubMedPubMedCentral

13.

Konh B, Batsaikhan Z, Padasdao B (2021) 3D shape estimation of an active needle inside tissue using 2D ultrasound images in Design of Medical Devices Conference 1–4

14.

Konh B, Padasdao B, Batsaikhan Z, Ko SY (2021) Integrating robot-assisted ultrasound tracking and 3D needle shape prediction for real-time tracking of the needle tip in needle steering procedures. Int J Med Robot Comput Assist Surg. https://doi.org/10.1002/rcs.2272CrossRef

15.

Padasdao B, Batsaikhan Z, Brown D, Moore J (2022) Estimation of tissue movement in needle insertion tasks using an active needle in Design of Medical Devices Conference 1–5

16.

Misra S, Reed KB, Schafer BW, Ramesh KT, Okamura AM (2010) Mechanics of flexible needles robotically steered through soft tissue. Int J Rob Res 29(13):1640–1660. https://doi.org/10.1177/0278364910369714CrossRefPubMedPubMedCentral

17.

Datla NV et al (2014) A model to predict deflection of bevel-tipped active needle advancing in soft tissue. Med Eng Phys 36(3):285–293. https://doi.org/10.1016/j.medengphy.2013.11.006CrossRefPubMed

18.

Lehmann T, Sloboda R, Usmani N, Tavakoli M (2018) Model-Based Needle Steering in Soft Tissue via Lateral Needle Actuation. IEEE Robot Autom Lett 3(4):3930–3936. https://doi.org/10.1109/LRA.2018.2858001CrossRef

19.

Hibbeler RC (2008) Mechanics of materials in Mechanics of materials, 8th edn. Prentice Hall, Hoboken, NJ, USA

20.

Lehmann T, Rossa C, Usmani N, Sloboda R, Tavakoli M (2017) Deflection modeling for a needle actuated by lateral force and axial rotation during insertion in soft phantom tissue. Mechatronics 48:42–53. https://doi.org/10.1016/j.mechatronics.2017.10.008CrossRef

21.

Webster RJ et al (2006) Nonholonomic modeling of needle steering. Int J Rob Res 25(5–6):509–525. https://doi.org/10.1177/0278364906065388CrossRef

22.

Abayazid M, Roesthuis RJ, Reilink R, Misra S (2013) Integrating deflection models and image feedback for real-time flexible needle steering. IEEE Trans Robot 29(2):542–553. https://doi.org/10.1109/TRO.2012.2230991CrossRef

23.

Khadem M, Fallahi B, Rossa C, Sloboda RS, Usmani N, Tavakoli M (2015) A Mechanics-based model for simulation and control of flexible needle insertion in soft tissue Proc—IEEE Int Conf Robot Autom 2015:2264–2269. https://doi.org/10.1109/ICRA.2015.7139499

Title: A mechanics-based model for a tendon-driven active needle navigating inside a multiple-layer tissue
Authors: Blayton Padasdao
Bardia Konh
Publication date: 01-12-2024
Publisher: Springer London
Keyword: Brachytherapy
Published in: Journal of Robotic Surgery / Issue 1/2024
Print ISSN: 1863-2483
Electronic ISSN: 1863-2491
DOI: https://doi.org/10.1007/s11701-024-01900-2

Keynote webinar | Spotlight on medication adherence

Springer Medicine

A mechanics-based model for a tendon-driven active needle navigating inside a multiple-layer tissue

Abstract

Keynote webinar | Spotlight on medication adherence

Springer Medicine

Abstract

Please log in to get access to this content

Other articles of this Issue 1/2024

Comparative study of operative expenses: robotic vs. laparoscopic vs. open liver resections at a university hospital in the UK

Analysis of robot-specific operative time and surgical team anxiety level and its effect on alignment during robot-assisted TKA

Implementation of a robotic surgical practice in inflammatory bowel disease

Perceived comfort and tool usability during robot-assisted and traditional laparoscopic surgery: a survey study

Temporal and institutional trends in robotic surgery

Comparison of clinical efficacy and safety between robotic-assisted and laparoscopic adrenalectomy for pheochromocytoma: a systematic review and meta-analysis