Tissue-needle interaction mechanics of steerable smart needle

Abstract

Needle insertion is a common surgical technique used in diagnosis (e.g. biopsy) and prognosis (e.g. brachytherapy) of several diseases. The success in these procedures depends on the accuracy of needle placement to the target location. Presently the accuracy of needle placement is limited primarily due to movement of the tissue, inability to control needle deflection, and inaccessibility of image monitoring techniques. These limitations are being addressed by smart needles (e.g. see Fig. 1) that can be steered within the body with the aid of actuators attached to the needle body [1-3]. However, in these studies smart needles were studied in air and not within the tissue, where they are supposed to be used. Therefore, to develop smart needles that are feasible for clinical applications, it is necessary to understand the mechanics of smart needle within tissue. This work will extend the present understanding on interaction mechanics of needle within tissue to smart needles (with external forces).