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

 
This site is powered by the TWiki collaboration platformCopyright &© by the contributing authors. All material on this collaboration platform is the property of the contributing authors.
Ideas, requests, problems regarding TWiki? Send feedback