An Autoclavable Steerable Cannula Manual Deployment Device: Design and Accuracy Analysis

被引:29
作者
Burgner, Jessica [1 ]
Swaney, Philip J. [1 ]
Bruns, Trevor L. [1 ]
Clark, Marlena S. [1 ]
Rucker, D. Caleb [1 ]
Burdette, E. Clif [2 ]
Webster, Robert J. [1 ]
机构
[1] Vanderbilt Univ, Dept Mech Engn, Nashville, TN 37212 USA
[2] Acoust MedSyst Inc, Savoy, IL 61874 USA
来源
JOURNAL OF MEDICAL DEVICES-TRANSACTIONS OF THE ASME | 2012年 / 6卷 / 04期
基金
美国国家卫生研究院; 美国国家科学基金会;
关键词
NEEDLE; MECHANICS;
D O I
10.1115/1.4007944
中图分类号
R318 [生物医学工程];
学科分类号
0831 ;
摘要
Accessing a specific, predefined location identified in medical images is a common interventional task for biopsies and drug or therapy delivery. While conventional surgical needles provide little steerability, concentric tube continuum devices enable steering through curved trajectories. These devices are usually developed as robotic systems. However, manual actuation of concentric tube devices is particularly useful for initial transfer into the clinic since the Food and Drug Administration (FDA) and Institutional Review Board (IRB) approval process of manually operated devices is simple compared to their motorized counterparts. In this paper, we present a manual actuation device for the deployment of steerable cannulas. The design focuses on compactness, modularity, usability, and sterilizability. Further, the kinematic mapping from joint space to Cartesian space is detailed for an example concentric tube device. Assessment of the device's accuracy was performed in free space, as well as in an image-guided surgery setting, using tracked 2D ultrasound. [DOI: 10.1115/1.4007944]
引用
收藏
页数:7
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