Design and preliminary evaluation of a bio-inspired steerable needle

Delft University of Technology

Design and preliminary evaluation of a bio-inspired steerable needle

Scali, Marta; Pusch, T.P.; Breedveld, Paul; Dodou, Dimitra

Publication date

2016

Document Version

Final published version

Citation (APA)

Scali, M., Pusch, T. P., Breedveld, P., & Dodou, D. (2016). Design and preliminary evaluation of a

bio-inspired steerable needle. 78-78. Abstract from 28th international conference of the international Society for

Medical Innovation and Technology (iSMIT) and the 4th edition of the Design of Medical Devices - Europe

(DMD-EU), Delft, Netherlands.

Important note

To cite this publication, please use the final published version (if applicable).

Please check the document version above.

Copyright

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons. Takedown policy

Please contact us and provide details if you believe this document breaches copyrights. We will remove access to the work immediately and investigate your claim.

This work is downloaded from Delft University of Technology.

Session - Medical Robotics

78

Abstract

ĞƐŝŐŶĂŶĚƉƌĞůŝŵŝŶĂƌLJĞǀĂůƵĂƚŝŽŶŽĨĂďŝŽͲŝŶƐƉŝƌĞĚƐƚĞĞƌĂďůĞŶĞĞĚůĞ

D͘^ĐĂůŝ͕d͘W͘WƵƐĐŚ͕W͘ƌĞĞĚǀĞůĚ͕͘ŽĚŽƵ ŝŽŵĞĐŚĂŶŝĐĂůŶŐŝŶĞĞƌŝŶŐĞƉĂƌƚŵĞŶƚ͕ĞůĨƚhŶŝǀĞƌƐŝƚLJŽĨdĞĐŚŶŽůŽŐLJ͕ĞůĨƚ͕dŚĞEĞƚŚĞƌůĂŶĚƐ 

ϭ͘ /ŶƚƌŽĚƵĐƚŝŽŶ

‹‰Š ƒ……—”ƒ…› ƒ† ’”‡…‹•‹‘ ‹ ”‡ƒ…Š‹‰ –ƒ”‰‡– Ž‘…ƒ–‹‘•‹•‹†‡–Š‡Š—ƒ„‘†›ƒ”‡‡…‡••ƒ”›ˆ‘” –Š‡ •—……‡•• ‘ˆ ’‡”…—–ƒ‡‘—• ’”‘…‡†—”‡•ǡ •—…Š ƒ• „‹‘’•› ƒ† Ž‘…ƒŽ‹œ‡† †”—‰ †‡Ž‹˜‡”›Ǥ Ž‡š‹„Ž‡ •–‡‡”ƒ„Ž‡‡‡†Ž‡•ƒ›ƒŽŽ‘™–Š‡•—”‰‡‘–‘”‡ƒ…Š ƒ”‡ƒ• †‡‡’ ‹•‹†‡ •‘Ž‹† ‘”‰ƒ• ™Š‹Ž‡ ƒ˜‘‹†‹‰ •‡•‹–‹˜‡•–”—…–—”‡•ȋ‡Ǥ‰Ǥǡ„Ž‘‘†˜‡••‡Ž•ȌȏͳȐǤ –‡‡”‹‰‘ˆƒ‡‡†Ž‡…ƒ„‡ƒ…Š‹‡˜‡†„›‡ƒ•‘ˆƒ ’”‡Ǧ†‡ˆ‹‡†‡‡†Ž‡•Šƒ’‡ǡ•—…Šƒ•ƒ„‡˜‡ŽǦ–‹’‘”ƒ ’”‡Ǧ…—”˜‡† ‡‡†Ž‡ •Šƒˆ– ȏʹȐǡ ‘” „› ‡ƒ• ‘ˆ ƒ ƒ…–—ƒ–‘” ‡„‡††‡† ‹ –Š‡ ‡‡†Ž‡ „‘†›ǡ •—…Š ƒ• …ƒ„Ž‡• ‘” ƒ •Šƒ’‡Ǧ‡‘”› ƒŽŽ‘› ȏ͵ȐǤ ‘–ƒ–‹‘ ƒ”‘—†–Š‡ Ž‘‰‹–—†‹ƒŽ ƒš‹• ‘ˆƒ „‡˜‡ŽǦ–‹’ ƒŽŽ‘™• •–‡‡”‹‰‹—Ž–‹’Ž‡†‹”‡…–‹‘•ǡƒŽ„‡‹–ƒ–ƒ’‘••‹„Ž‡ …‘•–‘ˆ–‹••—‡†ƒƒ‰‡Ǥ…–—ƒ–‘”•ƒŽŽ‘™•–‡‡”‹‰–‘ ƒŽŽ †‹”‡…–‹‘•ǡ „—– –Š‡› ƒ”‡ ‘ˆ–‡ …—„‡”•‘‡ǡ Ž‹‹–‹‰–Š‡’‘••‹„‹Ž‹–‹‡•ˆ‘”‹‹ƒ–—”‹œƒ–‹‘‘ˆ–Š‡ ‡‡†Ž‡†‹ƒ‡–‡”Ǥ Š‹• ™‘” ’”‡•‡–• –Š‡ †‡•‹‰ ƒ† ‡š’‡”‹‡–ƒŽ ‡˜ƒŽ—ƒ–‹‘ ‘ˆ ƒ „‹‘Ž‘‰‹…ƒŽŽ› ‹•’‹”‡† —Ž–‹Ǧ’ƒ”– ‡‡†Ž‡’”‘–‘–›’‡™‹–Š†‹ƒ‡–‡”‘ˆͳǤʹǡƒ„Ž‡–‘ •–‡‡” ™‹–Š‘—– –Š‡ ‡‡† ‘ˆ ”‘–ƒ–‹‘ ƒ”‘—† ‹–• Ž‘‰‹–—†‹ƒŽƒš‹•‘”–Š‡—•‡‘ˆƒ…–—ƒ–‘”•‡„‡††‡† ‹–Š‡‡‡†Ž‡„‘†›Ǥ

Ϯ͘ DĞƚŚŽĚƐ

‡ƒŽ‡’ƒ”ƒ•‹–‹…™ƒ•’•‘ˆ–Š‡›‡‘’–‡”ƒˆƒ‹Ž› Šƒ˜‡ ƒ –Š‹ ƒ† ˆŽ‡š‹„Ž‡ ‡‡†Ž‡ǦŽ‹‡ •–”—…–—”‡ǡ …ƒŽŽ‡† ‘˜‹’‘•‹–‘”ǡ —•‡† ˆ‘” Žƒ›‹‰ ‡‰‰• ‹•‹†‡ Žƒ”˜ƒ‡ȋ ‹‰—”‡ͳȌǤŠ‡‘˜‹’‘•‹–‘”…‘•‹•–•‘ˆ–Š”‡‡ Ž‘‰‹–—†‹ƒŽ •‡‰‡–•ǡ …ƒŽŽ‡† ˜ƒŽ˜‡•ǡ –Šƒ– …ƒ „‡ ƒ…–—ƒ–‡† ‹†‡’‡†‡–Ž› ‘ˆ ‡ƒ…Š ‘–Š‡” „› —•…—Žƒ–—”‡Ž‘…ƒ–‡†‹–Š‡ƒ„†‘‡‘ˆ–Š‡‹•‡…–Ǥ Š‡ ˜ƒŽ˜‡• –Š‡•‡Ž˜‡• †‘ ‘– ’‘••‡•• —•…Ž‡•Ǥ Š‡ ‘˜‹’‘•‹–‘” ƒ†˜ƒ…‡• ‹–‘ –Š‡ •—„•–”ƒ–‡ „› ”‡…‹’”‘…ƒŽŽ› •Ž‹†‹‰ –Š‡ ˜ƒŽ˜‡• ƒŽ‘‰ ‡ƒ…Š ‘–Š‡”Ǥ ‡˜ƒŽ˜‡‹•‘˜‡†ˆ‘”™ƒ”†ƒ–ƒ–‹‡ǡ™Š‡”‡ƒ•–Š‡ ‘–Š‡”–™‘˜ƒŽ˜‡•ƒ”‡’—ŽŽ‡†„ƒ…™ƒ”†•ǡƒ…Š‘”‹‰ ƒ‰ƒ‹•– –Š‡ •—„•–”ƒ–‡ –Šƒ• –‘ –Š‡‹” –‘‘–Š‡† •—”ˆƒ…‡Ǥ Š‹• ‡…Šƒ‹• ƒŽŽ‘™• –Š‡ ™ƒ•’ –‘ ’‡‡–”ƒ–‡†‡‡’‹–‘•‘Ž‹†•–”—…–—”‡•ȋ‡Ǥ‰Ǥǡ™‘‘†‘” ˆ”—‹–•ǡ ‹•‹†‡ ™Š‹…Š Š‘•– Žƒ”˜ƒ‡ ƒ”‡ Ž‘…ƒ–‡†Ȍ ™‹–Š‘—– „—…Ž‹‰Ǥ ‘”‡‘˜‡”ǡ –Š‡ ™ƒ•’ ‹• ƒ„Ž‡ –‘ •–‡‡” –Š‡ ‘˜‹’‘•‹–‘” ƒŽ‘‰ …—”˜‡† –”ƒŒ‡…–‘”‹‡•ǡ ™‹–Š‘—––Š‡‡‡†ˆ‘””‘–ƒ–‘”›‘–‹‘Ǥ•–‡ƒ†ǡ–Š‡ ‘ˆˆ•‡– „‡–™‡‡ –Š‡ •Ž‹†‹‰ ˜ƒŽ˜‡• †‡ˆ‹‡• –Š‡ •–‡‡”‹‰†‹”‡…–‹‘‘ˆ–Š‡–‹’ȏͶȐǤ •’‹”‡† „› –Š‡ ƒƒ–‘› ƒ† –Š‡ •–‡‡”‹‰ ‡…Šƒ‹• ‘ˆ –Š‡ ™ƒ•’ ‘˜‹’‘•‹–‘” ™‡ †‡•‹‰‡† ƒ† ˆƒ„”‹…ƒ–‡† ƒ —Ž–‹Ǧ’ƒ”– ‡‡†Ž‡ ’”‘–‘–›’‡ǡ ‹ ™Š‹…Š ‡ƒ…Š „‘†› ’ƒ”– ‹• ƒ…–—ƒ–‡† ‹†‡’‡†‡–Ž›Ǥ ‘–Š•–”ƒ‹‰Š–ƒ†…—”˜‡†–”ƒŒ‡…–‘”‹‡•ȋ‹ʹȌ™‡”‡ –‡•–‡† ‹ ‰‡Žƒ–‹‡ „› ˜ƒ”›‹‰ –Š‡ ƒ…–—ƒ–‹‘ •‡“—‡…‡‘ˆ–Š‡„‘†›’ƒ”–•Ǥ    &ŝŐƵƌĞ ϭ͗WĂƌĂƐŝƚŽŝĚ ǁĂƐƉ ;ŝĂĐŚĂƐŵŝŵŽƌƉŚĂ ůŽŶŐŝĐĂƵĚĂͿ ŽǀŝƉŽƐŝƚŝŶŐ ŽŶ ƚƌĂŶƐƉĂƌĞŶƚ ŐĞůĂƚŝŶĞ͘ ZĞĚ ĂƌƌŽǁƐ ŝŶĚŝĐĂƚĞ ƚŚĞ ŽǀŝƉŽƐŝƚŽƌ ŝŶƐŝĚĞ ƚŚĞ ŐĞůĂƚŝŶĞ ;ŽƵƌƚĞƐLJ͗ hƌŽƓ ĞƌŬǀĞŶŝŬ͕tĂŐĞŶŝŶŐĞŶhŶŝǀĞƌƐŝƚLJͿ͘

ϯ͘ ZĞƐƵůƚƐ

”‡Ž‹‹ƒ”› ‡š’‡”‹‡–ƒŽ ‡˜ƒŽ—ƒ–‹‘ ‹†‹…ƒ–‡† –Šƒ––Š‡’”‘–‘–›’‡…ƒˆ‘ŽŽ‘™ƒ•–”ƒ‹‰Š–’ƒ–Š™‹–Š Ž‹‹–‡† ’—•Š ˆ‘”…‡Ǥ –‡‡”‹‰ ™ƒ• ƒŽ•‘ ’‘••‹„Ž‡ǡ ™‹–Š•–‡‡”‹‰…—”˜ƒ–—”‡•—’–‘ͲǤͲͳͺͶ…Ǧͳ_{ȋ”ƒ†‹—•} ‘ˆ…—”˜ƒ–—”‡ͷͶǤ͵…ȌǤ

ϰ͘ ŝƐĐƵƐƐŝŽŶΘŽŶĐůƵƐŝŽŶ

Š‹• ™‘” ‹• ˆ‘…—•‡† ‘ –Š‡ †‡•‹‰ ƒ† ‡š’‡”‹‡–ƒŽ ˜ƒŽ‹†ƒ–‹‘ ‘ˆ ƒ •–‡‡”ƒ„Ž‡ ‡‡†Ž‡ ‹•’‹”‡†„›–Š‡‘˜‹’‘•‹–‘”‘ˆ’ƒ”ƒ•‹–‹…™ƒ•’•ǤŠ‡ ’”‘–‘–›’‡ ™ƒ• ƒ„Ž‡ –‘ ‘˜‡ ˆ‘”™ƒ”† ƒ† •–‡‡” ™‹–Š‘—– ”‘–ƒ–‹‘ –Š”‘—‰Š ‰‡Žƒ–‹‡ •‹—Žƒ–‹‰ •‘ˆ– –‹••—‡Ǥ  Š‹• ”‡•‡ƒ”…Š ‹• •—’’‘”–‡† „› –Š‡ —–…Š ‡…Š‘Ž‘‰› ‘—†ƒ–‹‘ ǡ ™Š‹…Š ‹• ’ƒ”– ‘ˆ –Š‡ ‡–Š‡”Žƒ†• ”‰ƒ‹œƒ–‹‘ ˆ‘” …‹‡–‹ˆ‹… ‡•‡ƒ”…Š ȋȌǡ ƒ† ™Š‹…Š ‹• ’ƒ”–Ž› ˆ—†‡† „› –Š‡ ‹‹•–”› ‘ˆ …‘‘‹… ˆˆƒ‹”• ȋ’”‘Œ‡…– —„‡”ͳʹ͹ͳʹǡ‡”•’‡…–‹‡ˆ”‘‰”ƒ‡‹Ǧ•–”—‡–• ˆ‘”‹‹ƒŽŽ›˜ƒ•‹˜‡‡…Š‹“—‡•ȌǤ  ‡ˆ‡”‡…‡• ȏͳȐ Ǥ „‘ŽŠƒ••ƒ‹ǡ Ǥ ƒ–‡Ž ƒ† Ǥ ‘ƒŽŽ‡ǡ Dz‡‡†Ž‡ ‹•‡”–‹‘‹–‘•‘ˆ–Ǧ–‹••—‡ǣƒ•—”˜‡›dzǡ‡†Ǥ‰ǤŠ›•Ǥǡ˜‘ŽǤ ʹͺȋͶȌǡ’’ǤͶͳ͵ǦͶ͵ͳǡʹͲͲ͹Ǥ ȏʹȐ Ǥƒœƒ™ƒǡǤ„”ƒŠ‹‹ǡ ǤŠ—ƒ‰ǡǤǤƒŽ…—†‡ƒƒ†Ǥ ‘ŠŽ‹‰ǡ Dzƒ†ǦŠ‡Ž† •–‡‡”ƒ„Ž‡ ‡‡†Ž‡ †‡˜‹…‡dzǡ Ȁ ”ƒ•Ǥ ‡…Šƒ–”‘‹…•ǡ ˜‘ŽǤ ͳͲ ȋ͵Ȍǡ ’’Ǥ ʹͺͷǦ ʹͻ͸ǡʹͲͲͷǤ ȏ͵Ȑ Ǥ Ǥ ”ƒ–…Šƒǡ Ǥ Ǥ ƒŠƒǡ Ǥ Ǥ ƒ—†‡”• ‡– ƒŽǤǡ Dz‘™ƒ”† ”‘„‘–‹… ‡‡†Ž‡ •–‡‡”‹‰ ‹ Ž—‰ „‹‘’•›ǣ ƒ –‡†‘Ǧƒ…–—ƒ–‡†ƒ’’”‘ƒ…Šdzǡ”‘…Ǥǡ͹ͻ͸ͶͳǡʹͲͳͳǤ ȏͶȐ Ǥ ǤǤ‹…‡–ƒ†Ǥ Ǥ‹‰ǡDzŠ‡‡…Šƒ‹•‘ˆ†”‹ŽŽ‹‰ „› ™‘‘† ™ƒ•’ ‘˜‹’‘•‹–‘”dzǡ ‹‘‹‡–‹…•ǡ ˜‘ŽǤ ͵ ȋͶȌǡ ’’Ǥ ͳͺ͹ǦʹͲͳǡͳͻͻͷǤ

07.03