Feasibility study of robotic needles with a rotational tip-joint and notch patterns

Shivanand Pattanshetti, Read Sandstrom, Abhishek Kottala, Nancy Marie Amato, Seok Chang Ryu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we present the design of a steerable needle with proximal notch patterns for compliance and an embedded rotational tip joint for articulation. The device is fabricated by laser machining NiTi tube so that an inner working channel exists (to enable delivery of fluids, drugs or microtools) and no assembly is required for the joints. We formulate its model based on the classical Cosserat Rod theory. This is extended with incremental state prediction and a simple spring model for tissue reaction to integrate into a planning algorithm based on Dynamic Region RRT which efficiently explores the needle's state space. The planner was initialized with a target zone and arbitrary anatomical obstacles before running simulations which propagated incremental state changes at every step while adhering to constraints based on the physical system. Finally, we demonstrate the steering capability of the needle through insertion tests into a phantom.

Original languageEnglish (US)
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1534-1540
Number of pages7
ISBN (Electronic)9781538660263
DOIs
StatePublished - May 2019
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: May 20 2019May 24 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
CountryCanada
CityMontreal
Period5/20/195/24/19

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Pattanshetti, S., Sandstrom, R., Kottala, A., Amato, N. M., & Ryu, S. C. (2019). Feasibility study of robotic needles with a rotational tip-joint and notch patterns. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 1534-1540). [8793574] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8793574