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Steerable Tape-Spring Needle for Autonomous Sharp Turns Through Tissue

Abdoun, O.; Tjandra, D.; Yin, K.; Kurzan, P.; Yin, J.; Yim, M.

2024-09-24 bioengineering
10.1101/2024.09.22.614377 bioRxiv
Show abstract

Steerable needles offer a minimally invasive method to deliver treatment to hard-to-reach tissue regions. We introduce a new class of tape-spring steerable needles capable of sharp turns ranging from 15 to 150 degrees with a turn radius as low as 3mm, which minimizes surrounding tissue damage. In this work, we derive and experimentally validate a geometric model for our steerable needle design. We evaluate both manual and robotic steering of the needle along a Dubins path in 7 kPa and 13 kPa tissue phantoms, simulating our target clinical application in healthy and unhealthy liver tissue. We conduct experiments to measure needle robustness to stiffness transitions between non-homogeneous tissues. We demonstrate progress towards clinical use with needle tip tracking via ultrasound imaging, navigation around anatomical obstacles, and integration with a robotic autonomous steering system.

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