3D Steerable Active Surgical Needle

2019 ◽  
Author(s):  
Saeed Karimi ◽  
Bardia Konh
Keyword(s):  
Soft Tissue ◽  
Shape Memory Alloy ◽  
Clinical Outcome ◽  
Minimally Invasive ◽  
Shape Memory ◽  
Active Control ◽  
Surgical Procedures ◽  
Needle Steering ◽  
Sma Actuators ◽  
Placement Accuracy

Needle-based surgical procedures for diagnostic and therapeutic purposes such as biopsy and brachytherapy has significantly contributed in minimally invasive surgeries. Percutaneous interventions demand precise navigation of surgical needles in soft tissue. Active needle steering increases the target placement accuracy, and consequently improves the clinical outcome. In this work, a novel 3D steerable active surgical needle with three Shape Memory Alloy (SMA) actuators is proposed. The actuation capabilities of SMAs were used to realize a 3D motion at the needle tip. The feasibility of 3D steerability was demonstrated through active control of multiple SMA actuators.

Studies With SMA Actuated Needle for Steering Within Tissue

2014 ◽  
Author(s):  
Naresh V. Datla ◽  
Bardia Konh ◽  
Parsaoran Hutapea
Keyword(s):  
Soft Tissue ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Surgical Procedures ◽  
Soft Tissues ◽  
Soft Materials ◽  
Pig Liver ◽  
Working Principle ◽  
Sma Actuator ◽  
Target Locations

Flexible needles that can be steered within soft tissues are a promising approach to precisely reach target locations, thereby can significantly benefit needle based surgical procedures such as brachytherapy and biopsy. Several design approaches have been suggested to increase needle flexibility that include bevel-tip needles, kinked needles and flexure-based needles. These needles when inserted into a soft materials takes a curved path. This curved path can be controlled while inserting by rotating the needle at its base. In this work another approach to control the curved path was explored. Here the needle body was attached with a shape memory alloy (SMA) actuator close the needle tip that when actuated bends the needle and thereby leads to a curved path inside soft tissue. A prototype of the SMA actuated needle was developed and the working principle was demonstrated in air, tissue-mimicking gel, and pig liver. Moreover, the effect of actuator wire diameter on the needle behavior were studied.

Flexure-Based Active Needle for Enhanced Steering Within Soft Tissue

2015 ◽  
Vol 9 (4) ◽  
Author(s):  
Naresh V. Datla ◽  
Parsaoran Hutapea
Keyword(s):  
Soft Tissue ◽  
Shape Memory Alloy ◽  
Minimally Invasive ◽  
Shape Memory ◽  
Torsional Rigidity ◽  
Axial Rotation ◽  
Needle Insertion ◽  
Wire Diameter ◽  
Pig Liver ◽  
Target Locations

Flexible needles with enhanced steerability are desired in minimally invasive surgeries to reach target locations precisely and to bypass critical organs lying in the planned path. We have proposed a flexure-based active needle that enhances steerability by using a flexure element near the needle tip. Needle curvature is controlled by attached shape memory alloy (SMA) wires that apply actuator forces to bend the needle. Using actuator forces rather than axial rotation to control needle curvature minimizes placement errors due to torsional rigidity that is compromised by the flexure element. A prototype of the proposed needle was developed and was demonstrated in air, in tissue-mimicking gel, and in pig liver. Needle insertion studies with the prototype showed that increasing the wire diameter from 0.15 to 0.24 mm insignificantly affected the maximum needle tip deflection (19.4±0.3 mm for 150 mm insertion), but significantly increased the actuation current (from 0.60 to 1.04 A).

Shape Memory Alloy Actuators in an Active Needle—Modeling, Precise Assembly, and Performance Evaluation

2020 ◽  
Vol 143 (2) ◽  
Author(s):  
Blayton Padasdao ◽  
Bardia Konh
Keyword(s):  
Performance Evaluation ◽  
Medical Imaging ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Three Dimensions ◽  
Needle Steering ◽  
Sma Actuators ◽  
Constitutive Material Model ◽  
And Performance ◽  
Targeting Accuracy

Abstract Today, several medical diagnosis and therapeutic cancer interventions are performed using needles via percutaneous surgical procedures. The success of these procedures highly depends on accurate placement of the needle tip at target positions. Improving targeting accuracy necessitates improvements in medical imaging and needle steering techniques. The former provides an improved vision on the target (i.e., cancerous tissue) and the needle, while the latter enables an enhanced interventional tool. In spite of considerable advancements in the medical imaging field, structure of the needle itself has remained unchanged. In the past decade, research works have suggested passive or active navigation of the needle inside the tissue to improve targeting accuracy. In addition, to provide actuation and control for needle steering, an active needle has been introduced activated by shape memory alloy (SMA) actuators. However, actuation of SMAs is complex due to their nonlinear and hysteresis behavior that depends on stress, strain, and temperature during operation. This work studies rapid manufacturing (via 3D printing), precise assembly, and performance evaluation of multiple distributed SMA actuators in an active flexible needle. The interactive response of the SMA actuators was investigated using experimental tests, constitutive material model, and kinematics of the active needle. It was shown that with proper installation of SMA actuators on the active needle, an effective manipulation can be realized in three dimensions.

Structural fatigue and fracture of shape memory alloy actuators: Current status and perspectives

2021 ◽  
pp. 1045389X2110572
Author(s):  
Md Mehedi Hasan ◽  
Theocharis Baxevanis
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Current Status ◽  
Structural Fatigue ◽  
Sma Actuators ◽  
Empirical Relations ◽  
Fatigue And Fracture ◽  
And Performance ◽  
Commercial Applications ◽  
Crack Growth Rates

Shape Memory Alloy (SMA)-actuators are efficient, simple, and robust alternatives to conventional actuators when a small volume and/or large force and stroke are required. The analysis of their failure response is critical for their design in order to achieve optimum functionality and performance. Here, (i) the existing knowledge base on the fatigue and overload fracture response of SMAs under actuation loading is reviewed regarding the failure micromechanisms, empirical relations for actuation fatigue life prediction, experimental measurements of fracture toughness and fatigue crack growth rates, and numerical investigations of toughness properties and (ii) future developments required to expand the acquired knowledge, enhance the current understanding, and ultimately enable commercial applications of SMA-actuators are discussed.

Optimal H∞ Control of Structural Vibrations Using Shape Memory Alloy Actuators

1999 ◽  
Author(s):  
Jian Sun ◽  
Ali R. Shahin
Keyword(s):  
Mathematical Model ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Model Uncertainty ◽  
High Frequency ◽  
Structural Vibrations ◽  
Design Procedures ◽  
Sma Actuators ◽  
Temperature Dynamics ◽  
The Mathematical Model

Abstract This paper investigates robust control problem of structural vibrations using shape memory alloy (SMA) wires as actuators. The mathematical model for these SMA actuators is derived with emphasis in model uncertainty. The linearization of the relation between stress and temperature dynamics of SMA actuators is analyzed for active control. To handle the uncertainties caused by the linearization and the neglected high frequency dynamics, optimal H∞ control was employed to design a controller. An example is used to demonstrate the design procedures and the control system is tested in a nonlinear environment.

Shape Memory Alloys in Automotive Applications

2014 ◽  
Vol 663 ◽  
pp. 248-253 ◽  
Author(s):  
Jaronie Mohd Jani ◽  
Martin Leary ◽  
Aleksandar Subic
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory Alloys ◽  
Shape Memory ◽  
External Force ◽  
Active Element ◽  
Mechanical Design ◽  
Competitive Market ◽  
Automotive Applications ◽  
Market Prices ◽  
Sma Actuators

Shape memory alloy (SMA) actuators have drawn much attention and interest due to their unique and superior properties, and are expected to be equipped in many modern vehicles at competitive market prices. The key advantage is that SMA actuators do not require bulky and complicated mechanical design to function, where the active element (e.g. SMA wire or spring) can be deformed by applying minimal external force and will retain to their previous form when subjected to certain stimuli such as thermomechanical or magnetic changes. This paper describes the SMA attributes that make them ideally suited as actuators in automotive applications and to address their limitations, feasibilities and prospects.

Modeling and Tracking Control System of Shape Memory Alloy Actuator

2007 ◽  
Author(s):  
B. Y. Ren ◽  
B. Q. Chen
Keyword(s):  
Control System ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Tracking Control ◽  
Fuzzy Controller ◽  
Smart Structures ◽  
Constitutive Law ◽  
Hysteresis Model ◽  
Sma Actuators ◽  
Sma Actuator

The different Shape Memory Alloy (SMA) actuators have been widely used in the fields of smart structures. However, the accurate prediction of thermomechanical behavior of SMA actuators is very difficult due to the nonlinearity of inherence hysteresis of SMA. Therefore, the tracking control accuracy of SMA actuator is very important for the practical application of the SMA actuator. A dynamic hysteresis model of bias-type SMA actuator based on constitutive law developed by Brinson et al. and hysteresis model developed by Ikuta et al. is presented. The control systems composed of the Proportional Integral Derivative (PID) controller as well as a fuzzy controller or a fuzzy-PID composite controller for compensating the hysteresis is proposed. The effort of tracking control system is analyzed according to the simulation on the displacement of SMA actuator with the three kinds of controllers. The result can provide a reference for the application of SMA actuator in the fields of smart structures.

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