Active MRI-compatible Tooling

1. References

ActiveNeedleSteering.bib : Updated 04/15/2009

2. Notes

♦ [number]: the order in the list of references.

2.0. To minimize Needle deflection

• Insertion with Spining the Needle shaft. [1]

2.1. To steer a Novel Needle Mechanism

• Wire-connected needle tip from the patent by PneumRx [22]: manually controlled.
• Piezoelctric actuated needle tip proposed by Yan, K. [36]: Surface-mounted piezoelectric actuator. No experiment results, or prototype design. Tiny displacement (10e-4 mm order)
• Magnetically actuated needle tip proposed by Tang, L. [32]: Needle has a compliant hinge, and magnetized tip. Controlled by external magnetic force. Not suitable for MR-environment.
• Multiple-precurved concentric tubes [13], [26], [30], [31]: Each tube has a constant/variable curvature. manually controlled.
• Micro-gripper using SMA [20]: Hybrid actuator with SMA and DC motor. Each SMA wire has 0.154mm of diameter, and multiple wires are used to generate enough force.
• simply introduced the concept of active needle. [21]

2.2. To steer a Flexible Bevel-Tip Needle

2.2.1. Control

• Parameters: Needle Insertion + Orientation of Bevel be rotation of the shaft of Needle.
• The insertion speed and the orientation change the reaction force by Tissue.
• Steering direction is decided by the orientation.
• A paper tried to control the curvature of the needle with duty-cycled spinning. [12]

2.2.2. Feedback

• Position feedback
  • Most researches used a Real-Time Imaging System
  • Some researches used the needle deflection model to estimate the position. [2]
• Force/Torque sensor at the Base

2.2.3. Modeling of Needle deflection or Needle-Tip interaction

• FEM is used for Tissue model
• Nonholonomic Kinematic Model of Needle [17], [33]: Do not consider the interaction of Tissue with Needle. Most researches are based on this model.
  • [10] investigated the applicability of this model
• Model of Needle-Tissue Interaction [24]: Considered the relationship of Needle defection with nonlinear Tissue property, Frictional force, Rupture toughness, and mechanical properties of Needle.

2.2.4. Tragectory Planning

• Optimization problem. [4], [5], [6], [11], [27], [29]

2.3. To steer a Stiff Symmetric-Tip Needle

2.3.1. Control

• Parameters: 3D Translation of Needle base

2.3.2. Feedback

• Force/Torque sensor at the base in common
• Position of Needle Tip
  • Some researches are used models to etimate the position of Needle tip
  • Others are used real-time imaging system to update the parameters of model in real-time

2.3.3. Modeling of Needle deflection or Needle-Tip interaction

• FEM is used for Tissue model
• More works on Modeling compared to that of the Bevel-Tip needle steering
  • Since the most researches on the bevel-tip needle used the kinematic model of the Needle.
• Linear elastic Tissue model with FEM. [8], [9]
  • Potential field for two point on the needle was used to consider the orientation of Needle Tip
  • [8] is for the optimized path planning, [9] has more detailed explanation of the model.
• Virtual spring model for Needle-Tissue interaction. [14], [15]
  • [14] updated the stiffness of Tissue from the shape of Needle in Real-Time
  • [15] used given value of the stiffness of Tissue
• Spring-Damper system model. [35], [37]
• Nonlinear and Viscoelastic Tissue model. [18], [19]
  • Just focused on the modeling of organ, and named 'organ-based control'

2.3.4. Trajectory Planning

• Optimization using needle manipulation Jacobian. [8]
• ...

2.4. Discussion

• ...

2.5. Other useful references

• [25]: 'Force modeling for needle insertion into soft tissue' by Allison M.Okamura
• [34]: 'Design consideration for Robotic needle sterring' by R.J. Webster.

2.6. Review Papers

• 'Needle insertion into soft tissue: A survey' by Abolhassani, N. [3], in 2007
• 'Modeling of tool-tissue interactions for .... : A literature review' by Misra, S. [23], in 2008

2.7. Useful Links

• Fast SMA Motion Project: Projects to improve the speed and accuracy of SMA actuator By Roy Featherstone.
  • They developed a new rapid heating algorithm, and the SMA (0.1mm diameter of Flexinol) can respond at a frequency of 1kHz and higher
  • Electrical current was used to heat the SMA wire. Altough our issue is not the heating, but cooling, it looks interesting.

3. Possible Actuation Schemes

* Refered to Catalog from PI, others ...

	Actuator Type	Stroke [mm]	Force [N]	Responce Time	Typical Size [mm^3]	Advantages	Disadvantages
1	Piezoelectric Stack	<0.3mm	<300N	Fast	< 30x30x150	High Force Generation MR compatible	Very Small Travel Range
2	Piezoelectric Bender	<2mm	<1N	Fast	Width of 10mm	Large Motion in Small package MR compatible	Very Low Force Generation
3	Piezo Linear Ultrasonic	<50mm (Unlimited)	<10N	Fast	< 20x40x10	Unlimited Travel Range MR compatible	Low Force Generation
4	Piezo Linear Shear	<50mm (Unlimeted)	<800N	Fast	< 50x50x30	Unlimited Travel Range High Force Generation MR compatible
5	SMA
6	Thermal
7	Hydraulic

4. Actuators

4.1. Piezoelectric Stack-Type Actuator

( http://www.physikinstrumente.com/en/products/piezo/piezo_selection.php?table=all)

4.2. Piezoelectric Bender-Type Actuator

( http://www.physikinstrumente.com/en/products/piezo/piezo_selection.php?table=9 )

4.2. Piezoelectric Linear Actuator - Using Preloaded Shear Actuater

( http://www.nanoactuators.com/nano-actuator.htm#NEX )

4.3. Piezoelectric Linear Ultrasonic Actuator

( http://www.nanoactuators.com/nano-actuator.htm#ULAM)

4.2. Ultrasonic Linear Actuators

( http://www.physikinstrumente.com/en/products/piezo_motor/linear_motor_selection.php?table=all#piline)

linear ultrasonic (for example http://www.physikinstrumente.com/en/news/fullnews.php?newsid=106) -- 3mm travel, 9x3,2mm package. Max force?

5. Design Issues

5.1. Position of Actuator

• At Base
  • Actuator can be larger
  • Wire connected
  • ...
• At Bend Loaction
  • Bendable Actuator should be thin
  • Insulation Tube Required
  • ...
• ...

5.2. Requirements

• ...

5.3. ...

6. Modeling Issues

-- MarkCutkosky - 21 Apr 2009