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Minimally disruptive needle insertion: a biologically inspired solution

Leibinger, A, Oldfield, Matthew and Rodriguez y Baena, F (2016) Minimally disruptive needle insertion: a biologically inspired solution Interface Focus, 6 (3).

Minimally Disruptive Needle Insertion.pdf - Accepted version Manuscript
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The mobility of soft tissue can cause inaccurate needle insertions. Particularly in steering applications that employ thin and flexible needles, large deviations can occur between pre-operative images of the patient, from which a procedure is planned, and the intra-operative scene, where a procedure is executed. Although many approaches for reducing tissue motion focus on external constraining or manipulation, little attention has been paid to the way the needle is inserted and actuated within soft tissue. Using our biologically inspired steerable needle, we present a method of reducing the disruptiveness of insertions by mimicking the burrowing mechanism of ovipositing wasps. Internal displacements and strains in three dimensions within a soft tissue phantom are measured at the needle interface, using a scanning laser-based image correlation technique. Compared to a conventional insertion method with an equally sized needle, overall displacements and strains in the needle vicinity are reduced by 30% and 41%, respectively. The results show that, for a given net speed, needle insertion can be made significantly less disruptive with respect to its surroundings by employing our biologically inspired solution. This will have significant impact on both the safety and targeting accuracy of percutaneous interventions along both straight and curved trajectories.

Item Type: Article
Subjects : Mechanical Engineering
Divisions : Faculty of Engineering and Physical Sciences > Mechanical Engineering Sciences
Authors :
Leibinger, A
Rodriguez y Baena, F
Date : 6 June 2016
DOI : 10.1098/rsfs.2015.0107
Copyright Disclaimer : © 2016 The Author(s) Published by the Royal Society. All rights reserved. This is an Accepted Manuscript of an article published by Taylor & Francis in Interface Focus on 06 Jun 2016, available online at
Uncontrolled Keywords : Minimally invasive surgery, Biologically inspired robotics, Soft tissue, Tissue disruption, Tool–tissue interactions, Image correlation
Depositing User : Symplectic Elements
Date Deposited : 28 Apr 2017 08:28
Last Modified : 16 Jan 2019 17:14

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