Needle steering system using duty-cycled rotation for percutaneous kidney access

Author

Wood, Nathan A. ; Shahrour, Khaled ; Ost, Michael C. ; Riviere, Cameron N.

Author_Institution

Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA

fYear

2010

fDate

Aug. 31 2010-Sept. 4 2010

Firstpage

5432

Lastpage

5435

Abstract

The authors present ongoing work on the use of a variable curvature flexible needle steering system to gain percutaneous access to the kidney for medical interventions. A nonlinear control law is introduced which drives the needle to track a predetermined planar path using a steering approach based on duty-cycled rotation during insertion. Renal access is performed in simulation and tested in vitro in a tissue phantom to validate the proposed control method.

Keywords

biomedical equipment; flexible structures; kidney; medical control systems; needles; phantoms; steering systems; surgery; duty-cycled rotation; medical interventions; nonlinear control; percutaneous kidney access; renal access; tissue phantom; variable curvature flexible needle steering system; In vitro; Kidney; Needles; Phantoms; Robots; Solid modeling; Testing; Computer Simulation; Diagnostic Techniques, Urological; Kidney; Needles; Phantoms, Imaging; Rotation;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE

Conference_Location

Buenos Aires

ISSN

1557-170X

Print_ISBN

978-1-4244-4123-5

Type

conf

DOI

10.1109/IEMBS.2010.5626514

Filename

5626514