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Biologically Inspired Surgical Needle Steering: Technology and Application of the Programmable Bevel-Tip Needle

Mechatronics in Medicine Lab, Imperial College London, London SW7 2BU, UK
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Biomimetics 2020, 5(4), 68; https://doi.org/10.3390/biomimetics5040068
Received: 3 October 2020 / Revised: 23 November 2020 / Accepted: 4 December 2020 / Published: 16 December 2020
(This article belongs to the Special Issue Biomimetics from Concept to Reality)
Percutaneous interventions via minimally invasive surgical systems can provide patients with better outcomes and faster recovery times than open surgeries. Accurate needle insertions are vital for successful procedures, and actively steered needles can increase system precision. Here, we describe how biology inspired the design of a novel Programmable Bevel-Tip Needle (PBN), mimicking the mechanics and control methods of certain insects ovipositors. Following an overview of our unique research and development journey, this paper explores our latest, biomimetic control of PBNs and its application to neurosurgery, which we validate within a simulated environment. Three modalities are presented, namely a Direct Push Controller, a Cyclic Actuation Controller, and a newly developed Hybrid Controller, which have been integrated into a surgical visual interface. The results of open loop, expert human-in-the-loop and a non-expert user study show that the Hybrid Controller is the best choice when considering system performance and the ability to lesson strain on the surrounding tissue which we hypothesis will result in less damage along the insertion tract. Over representative trajectories for neurosurgery using a Hybrid Controller, an expert user could reach a target along a 3D path with an accuracy of 0.70±0.69 mm, and non-expert users 0.97±0.72 mm, both clinically viable results and equivalent or better than the state-of-the-art actively steered needles over 3D paths. This paper showcases a successful example of a biologically inspired, actively steered needle, which has been integrated within a clinical interface and designed for seamless integration into the neurosurgical workflow. View Full-Text
Keywords: cyclic control; bioinspiration; needle steering; bevel tip; PBN cyclic control; bioinspiration; needle steering; bevel tip; PBN
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MDPI and ACS Style

Matheson, E.; Rodriguez y Baena, F. Biologically Inspired Surgical Needle Steering: Technology and Application of the Programmable Bevel-Tip Needle. Biomimetics 2020, 5, 68. https://doi.org/10.3390/biomimetics5040068

AMA Style

Matheson E, Rodriguez y Baena F. Biologically Inspired Surgical Needle Steering: Technology and Application of the Programmable Bevel-Tip Needle. Biomimetics. 2020; 5(4):68. https://doi.org/10.3390/biomimetics5040068

Chicago/Turabian Style

Matheson, Eloise, and Ferdinando Rodriguez y Baena. 2020. "Biologically Inspired Surgical Needle Steering: Technology and Application of the Programmable Bevel-Tip Needle" Biomimetics 5, no. 4: 68. https://doi.org/10.3390/biomimetics5040068

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