Print Email Facebook Twitter From the Wasp Ovipositor to a 3D Steerable Needle for Solid-Tissue Interventions Title From the Wasp Ovipositor to a 3D Steerable Needle for Solid-Tissue Interventions: A Design and Experimental Approach Author Pusch, T.P. Contributor Breedveld, P. (mentor) Dodou, D. (mentor) Faculty Mechanical, Maritime and Materials Engineering Department Biomechanical Engineering Date 2016-05-19 Abstract In many percutaneous interventions, such as biopsies and brachytherapy, accuracy in reaching a speciﬁc target inside the human body is necessary for the success of the procedure. Maneuvering to the target site is challenging, particularly if sensitive structures such as blood vessels have to be avoided. For maneuvering along a curved trajectory, ﬂexible steerable needles have been introduced. However, since needles generally require a push force to be advanced into the tissue, the ﬂexible nature of steerable needles makes them prone to buckling. Moreover, many steerable needles require rotation for maneuvering in a 3D space, causing needle twisting which makes accurate control of the needle challenging. In this study, a novel approach for the design of a ﬂexible needle inspired by the egg-laying channel (‘ovipositor’) of parasitic wasps is proposed which addresses the aforementioned steering and buckling challenges while being small enough to be used in biopsy and brachytherapy procedures. This approach has led to the development of a six-segmented needle prototype designed to be both steerable in 3D without the need for rotation and devoid of the need for an axial push force for insertion into tissue thereby eliminating the risk of needle buckling. Experimental validation of our Ø 1.2 mm needle prototype in porcine gelatin specimen showed promising results, with steering curvatures of 0.018 1/cm achievable; yet further reﬁnement of the design and experimental setup is necessary for a conclusive experimental assessment of the needle prototype. Subject steerable needlesmedical needlessolid-tissuebiologically inspired design To reference this document use: http://resolver.tudelft.nl/uuid:086fc121-5e50-48cd-9dd0-af4da7fa96c2 Embargo date 2021-05-19 Part of collection Student theses Document type student report Rights (c) 2016 Pusch, T.P.