Arizona State University, School for Engineering of Matter Transport and Energy (SEMTE), Tempe, 85287, USA.
Sci Rep. 2020 Feb 12;10(1):2500. doi: 10.1038/s41598-020-59275-x.
Needle steering is a technology for guiding needles around sensitive internal obstacles in minimally invasive surgery. Traditional techniques apply rotation at the base of a needle with an asymmetric tip, enabling steering through the redirection of radial forces. Magnetic steering of catheters and continuum manipulators is another technology that allows steering of a shaft in the body. Both of these techniques rely on mechanical or manual shaft advancement methods. Needle steering has not achieved widespread clinical use due to several limitations: 1- buckling and compression effects in the shaft and needle rotation cause excessive tissue damage; 2- torsion effects on the shaft and needle deflection at tissue boundaries lead to difficulty in control; and 3- restricted radius of curvature results in limited workspace. Magnetically steered catheters and continuum manipulators also suffer from limited curvature and the possibility of buckling. This paper proposes a novel needle steering method empowered by electromagnetic actuation that overcomes all of the aforementioned limitations, making it a promising option for further study toward healthcare applications.
针导向是一种在微创手术中引导针绕过敏感内部障碍物的技术。传统技术在具有不对称尖端的针的底部施加旋转，从而通过重新引导径向力来实现转向。导管和连续体操纵器的磁导向是另一种允许在体内引导轴的技术。这两种技术都依赖于机械或手动轴推进方法。由于以下几个限制，针导向尚未广泛应用于临床：1- 轴和针旋转的弯曲和压缩效应对组织造成过度损伤；2- 轴上的扭转效应和组织边界处的针偏转而导致控制困难；3- 曲率半径受限导致工作空间受限。磁导向的导管和连续体操纵器也受到曲率有限和弯曲的可能性的限制。本文提出了一种新的针导向方法，该方法由电磁致动提供动力，克服了上述所有限制，是进一步研究医疗保健应用的有前途的选择。
