Steerable Flexible Needle With Embedded Shape Sensing for Trajectory Control
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Solution Overview
Problem
Minimally invasive surgical procedures using flexible, steerable needles face challenges in accurately monitoring and controlling the shape and trajectory due to the high variability and susceptibility to tissue deviations, which can lead to deviations from the target trajectory.
Innovation Solution
Incorporating a shape sensor into the flexible needle to monitor and control its shape and surgical trajectory, allowing for precise guidance and control through the use of actuators and control inputs, and integrating the sensor data with processing systems for real-time feedback and correction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If flexible needle is used to access internal locations through curved paths, then access to difficult-to-reach targets is enabled, but needle shape and trajectory become highly variable and difficult to control
Solution Approach 1:
The patent incorporates shape sensors (fiber optic, capacitive, or magnetic) along the needle shaft that provide real-time feedback on needle curvature and position. This feedback is fed to a controller that adjusts actuator commands to maintain the desired trajectory, compensating for tissue variability and ensuring reliable path control while maintaining flexibility for curved access paths.
Solution Approach 2:
The patent replaces traditional purely mechanical steering mechanisms with a hybrid system that uses embedded sensors and electronic control. Shape sensing capabilities transform the mechanical needle into a smart system that can measure and compensate for deviations, enabling reliable trajectory control through non-mechanical means (sensor feedback and electronic actuation).
2Measurement precision
If shape sensors are embedded in the flexible needle, then trajectory monitoring precision is improved, but device complexity increases
Solution Approach 1:
The patent integrates multiple functions into the needle system: the same sensor array serves both for shape monitoring and position tracking, the actuator system provides both positioning and steering functions, and the controller handles both real-time feedback and trajectory planning. This multi-functionality reduces overall system complexity despite adding sensing capabilities.
Solution Approach 2:
The patent embeds shape sensors within the needle shaft structure, nesting the sensing elements inside the existing mechanical framework. This nested integration allows the sensors to be housed within the needle's existing volume without significantly increasing external dimensions or structural complexity, while still providing precise trajectory monitoring.
3Ease of operation
If active actuators are added to provide shaping and directionality, then steering control is improved, but manufacturing complexity increases
Solution Approach 1:
The patent uses actuators that change the physical parameters (curvature, orientation) of needle segments through controlled deformation. By adjusting actuation parameters (voltage, current, pressure) rather than mechanically reconfiguring the entire needle, the system achieves precise steering control while simplifying manufacturing compared to traditional mechanically complex steering mechanisms.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables efficient and effective performance of minimally invasive procedures by providing accurate shape and trajectory monitoring, enabling precise control over the needle's path and orientation, and enhancing safety and efficacy in procedures like prostate biopsy and brachytherapy.
Implementation Method 1
Incorporating a shape sensor into the flexible needle to monitor and control its shape and surgical trajectory
Data Source
AI summary
A flexible needle comprises a flexible body, an optical fiber, and a connector adapted for connecting the optical fiber to a processor. The flexible body comprises a wall including an interior surface defining a lumen. The wall further defines a securing feature. The securing feature is one of a channel within the wall, an external groove on an exterior surface of the wall, or an interior groove on an interior surface of the wall. The optical fiber is positioned at least partially within the securing feature. The flexible body further comprises a distal tip portion configured to pierce or puncture tissue.