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3D Manipulation of an Active Steerable Needle via Actuation of Multiple SMA Wires

Published online by Cambridge University Press:  28 May 2019

Bardia Konh Open the ORCID record for Bardia Konh [Opens in a new window] ,
Dayne Sasaki ,
Tarun K. Podder  and
Hashem Ashrafiuon
Bardia Konh*
Affiliation:
Department of Mechanical Engineering, University of Hawaii at Manoa, Honolulu, HI 96822, USA
Dayne Sasaki
Affiliation:
Department of Mechanical Engineering, University of Hawaii at Manoa, Honolulu, HI 96822, USA
Tarun K. Podder
Affiliation:
Department of Radiation Oncology, Case Western Reserve University, Cleveland, OH 44106, USA Department of Biomedical Engineering, Case Western Reserve University, Cleveland, OH 44106, USA
Hashem Ashrafiuon
Affiliation:
Department of Mechanical Engineering, Villanova University, Villanova, PA 19085, USA
*
*Corresponding author. E-mail: [email protected]
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Summary

Many medical procedures such as brachytherapy, thermal ablations, and biopsies are performed using needle-based procedures. In this work, 3D manipulation of an active needle realized by multiple Shape Memory Alloy (SMA) actuators was first predicted by Finite Element Analyses (FEA), and then demonstrated by a fabricate prototype. The FEA results were validated by planar deflection of an active needle. A similar FEA was developed to predict 3D manipulation of the active needle. For 17-gage needle, a maximum of 26° reversible deflection was achieved in 3D space via actuation forces of a 0.127 mm SMA wire. A scaled prototype was also developed and tested to show the feasibility of developing a 3D steering active needle with multiple actuators.

Keywords

SMA-actuated surgical needle3D steerable active needleBrachytherapy
Type
Articles
Information
Robotica , Volume 38 , Issue 3 , March 2020 , pp. 410 - 426
Copyright
© Cambridge University Press 2019 

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