TY - GEN
T1 - Feasibility study of an optically actuated MR-compatible active needle
AU - Ryu, Seok Chang
AU - Renaud, Pierre
AU - Black, Richard J.
AU - Daniel, Bruce L.
AU - Cutkosky, Mark R.
PY - 2011
Y1 - 2011
N2 - An active needle is proposed for the development of MRI guided percutaneous procedures. The needle uses internal laser heating, conducted via optical fibers, of a shape memory alloy (SMA) actuator to produce bending in the distal section of the needle. Active bending of the needle as it is inserted allows it to reach small targets while overcoming the effects of interactions with surrounding tissue, which can otherwise deflect the needle away from its ideal path. The active section is designed to bend preferentially in one direction under actuation, and is also made from SMA for its combination of MR and bio-compatibility and its superelastic bending properties. A prototype, with a size equivalent to standard 16G biopsy needle, exhibits significant bending with a tip rotation of more than 10°. A numerical analysis and experiments provide information concerning the required amount of heating and guidance for design of efficient optical heating systems.
AB - An active needle is proposed for the development of MRI guided percutaneous procedures. The needle uses internal laser heating, conducted via optical fibers, of a shape memory alloy (SMA) actuator to produce bending in the distal section of the needle. Active bending of the needle as it is inserted allows it to reach small targets while overcoming the effects of interactions with surrounding tissue, which can otherwise deflect the needle away from its ideal path. The active section is designed to bend preferentially in one direction under actuation, and is also made from SMA for its combination of MR and bio-compatibility and its superelastic bending properties. A prototype, with a size equivalent to standard 16G biopsy needle, exhibits significant bending with a tip rotation of more than 10°. A numerical analysis and experiments provide information concerning the required amount of heating and guidance for design of efficient optical heating systems.
UR - http://www.scopus.com/inward/record.url?scp=84455161942&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048632
DO - 10.1109/IROS.2011.6048632
M3 - Conference contribution
AN - SCOPUS:84455161942
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2564
EP - 2569
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -