Parsaoran Hutapea

Parsaoran Hutapea
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Parsaoran verified their affiliation via an institutional email.
Verified
Parsaoran verified their affiliation via an institutional email.
Temple University | TU · Department of Mechanical Engineering

Doctor of Philosophy
Professor, ASME Fellow

About

192
Publications
51,216
Reads
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1,257
Citations
Introduction
Dr. Hutapea is a Professor of Mechanical Engineering at Temple University and a Fellow of the American Society of Mechanical Engineers (ASME).
Additional affiliations
Temple University
Position
  • Professor
January 2004 - July 2010
Temple University
Position
  • Professor (Assistant)
January 2001 - July 2004
Lehigh University
Position
  • PostDoc Position
Education
August 1997 - December 2000
North Carolina State University
Field of study
  • Aerospace Engineering
August 1995 - May 1997
North Carolina State University
Field of study
  • Aerospace Engineering
August 1991 - May 1995
North Carolina State University
Field of study
  • Aerospace Engineering

Publications

Publications (192)
Article
Background: Conventional needles lack active mechanisms for large tip deflection to bypass obstacles or guide through a desired trajectory in needle-based procedures, compromising accuracy and effectiveness. Methods: An active needle with a shape memory alloy (SMA) actuator was designed and evaluated by demonstrating deflections in tissue-mimick...
Article
Medical interventions require control over surgical needle insertion to minimize tissue damage and target inaccuracies during percutaneous procedures. The composite coating of the needle using Polydopamine (PDA), Polytetrafluoroethylene (PTFE), and Activated Carbon (C) has been used to reduce the damaging needle insertion force. This research aims...
Article
Active needles obtain more significant tip deflection and improved accuracy over passive needles for percutaneous procedures. However, their ability to navigate through tissues to reach targets depends upon the actuation mechanism, the tip shape, and the surface geometry of the shaft. In this study, we investigate the benefits of changing the surfa...
Article
The use of subcutaneous and percutaneous needle and catheter insertions is standard in modern clinical practice. However, a common issue with bevel tip surgical needles is their tendency to deflect, causing them to miss the intended target inside the tissue. This study aims to understand the interaction between the needle and soft tissue and develo...
Article
Full-text available
The aim of this work is to propose a mosquito-inspired (bioinspired) design of a surgical needle that can decrease the insertion force and the tissue deformation, which are the main causes of target inaccuracy during percutaneous procedures. The bioinspired needle was developed by mimicking the geometrical shapes of mosquito proboscis. Needle proto...
Conference Paper
Precise needle insertion is crucial in minimally invasive procedures such as brachytherapy, biopsy, and drug delivery, directly impacting clinical outcomes. Several factors affect needle positioning accuracy, including insertion force, tissue deformation, and obstacles along the trajectory. Techniques to activate needles to bend during insertion ar...
Presentation
A conformal semi-automated needling device can benefit a variety of percutaneous medical procedures such as biopsy, deep brain stimulation, gene therapy, in-vivo analysis, local delivery of drugs, etc. This needling device should be flexible enough for geometric conformality to avoid the critical organs and obstacles, or significantly improve distr...
Preprint
Needle steering to achieve large curvatures and deflection has the potential to enhance percutaneous procedures, such as radiofrequency ablation (RFA) and deep brain stimulation (DBS). However, the mechanics of needles with large curvatures still need to be explored. This study introduces a curvilinear insertion method to analyze needle-tissue inte...
Preprint
Precise needle insertion is crucial in minimally invasive procedures such as brachytherapy, biopsy, and drug delivery, directly impacting clinical outcomes. Various factors affect needle positioning accuracy, including insertion force, tissue deformation, and obstacles along the trajectory. Techniques to activate needles to bend during insertion ar...
Conference Paper
Soft tissue biopsy is a necessary diagnostic and therapeutic procedure, but traditional biopsy needles can cause harm to the patient, including tissue damage, bleeding, and pain. These can compromise the accuracy of the sample and negatively impact the patient’s well-being. Hence, there has been a growing interest in developing bio-inspired surgica...
Conference Paper
This study explores the mechanical interactions between surgical needles and soft tissues during procedures like biopsies and brachytherapy. A key challenge is needle tip deflection, which can cause deviation from the intended target. The study aims to develop an analytical model that predicts needle tip deflection during insertion by combining pri...
Conference Paper
Reducing the force required during needle insertion is vital to minimize tissue damage in percutaneous procedures. A composite coating of Polydopamine, Polytetrafluoroethylene, and Activated Carbon materials was applied to the needles to address this challenge. The coating reduces needle surface friction, which eventually helps to decrease the inse...
Conference Paper
Active needles obtain more significant tip deflection and improved accuracy over passive needles for percutaneous procedures. However, their ability to navigate through tissues to reach targets depends upon the actuation mechanism, the tip shape, and the surface geometry of the shaft. In this study, we investigate the benefits of changing the surfa...
Article
Medical interventions have significantly progressed in developing minimally invasive techniques like percutaneous procedures. These procedures include biopsy and internal radiation therapy, where a needle or needle-like medical device is inserted through the skin to access a target inside the body. Ensuring accurate needle insertion and minimizing...
Article
Full-text available
Active needles demonstrate improved accuracy and tip deflection compared to their passive needle counterparts, a crucial advantage in percutaneous procedures. However, the ability of these needles to effectively navigate through tissues is governed by needle-tissue interaction, which depends on the tip shape, the cannula surface geometry, and the n...
Preprint
Accurate needle insertion is critical during minimally invasive procedures such as biopsy, drug delivery, tumor ablation, and brachytherapy. Various factors affect needle position precision: insertion force, tissue deformation, tissue damage, image-guided tools, surgeons' technique, and obstacles on the insertion path. This paper reviews the curren...
Preprint
Medical interventions have made significant progress in recent years, especially in the development of minimally invasive techniques, such as percutaneous procedures. In percutaneous procedures like biopsy and brachytherapy, a needle is inserted through the skin to access a target inside the body precisely. However, ensuring the accuracy of needle...
Preprint
Active needles demonstrate improved accuracy and tip deflection compared to their passive counterparts, a crucial advantage in percutaneous procedures. However, the ability of these needles to effectively navigate through tissues is governed by needle-tissue interaction, which depends on the tip shape, the cannula surface geometry, and the needle i...
Preprint
This study investigates the mechanical relationship between surgical needles and soft tissues during percutaneous procedures like biopsies and brachytherapy. A primary challenge in these procedures is the undesired deflection of the needle tip, resulting in deviation from the intended target. The research aims to model the forces exerted by soft ti...
Preprint
Modern medicine has made significant advancements through percutaneous interventions. However, to ensure needle insertion accuracy and minimize tissue damage, controlling the insertion of surgical needles is crucial. A composite coating of Polydopamine, Polytetrafluoroethylene, and Activated Carbon materials was applied to the needles to address th...
Preprint
This study explores the mechanical interactions between surgical needles and soft tissues during procedures like biopsies and brachytherapy. A key challenge is needle tip deflection, which can cause deviation from the intended target. The study aims to develop an analytical model that predicts needle tip deflection during insertion by combining pri...
Preprint
Active needles obtain more significant tip deflection and improved accuracy over passive needles for percutaneous procedures. However, their ability to navigate through tissues to reach targets depends upon the actuation mechanism, the tip shape, and the surface geometry of the shaft. In this study, we investigate the benefits of changing the surfa...
Preprint
Soft tissue biopsy is a necessary diagnostic and therapeutic procedure, but traditional biopsy needles can cause harm to the patient, including tissue damage, bleeding, and pain. These can compromise the accuracy of the sample and negatively impact the patient's well-being. Hence, there has been a growing interest in developing bio-inspired surgica...
Preprint
The use of subcutaneous and percutaneous needle and catheter insertions is standard in modern clinical practice. However, a common issue with bevel tip surgical needles is their tendency to deflect, causing them to miss the intended target inside the tissue. This study aims to understand the interaction between the needle and soft tissue and develo...
Preprint
Background Conventional needles lack active mechanisms for large tip deflection to bypass obstacles or guide through a desired trajectory in needle-based procedures, compromising accuracy and effectiveness. Methods An active needle with a shape memory alloy (SMA) actuator was designed and evaluated by demonstrating deflections in tissue-mimicking g...
Preprint
Medical interventions require control over surgical needle insertion to minimize tissue damage and target inaccuracies during percutaneous procedures. Composite coating of the needle using Polydopamine (PDA), Polytetrafluoroethylene (PTFE), and Activated Carbon (C) has been used to reduce the damaging needle insertion force. This research aims to f...
Poster
Full-text available
Needle insertion is an essential process during minimally invasive surgery (MIS), which has been used for biopsies, blood sampling, and brachytherapy. The minimally invasive procedure involves less intrusive and fewer post operations than traditional open surgeries, so this leads to fast recovery times, and decreased risk infection. For successful...
Poster
Full-text available
A finite element (FE) simulation of an active needle actuated by a nitinol shape memory alloy (SMA) actuator designed in our previous studies [1,2] has been performed for application in needle-based procedures like biopsy, brachytherapy, and tissue ablation. The simulation predicts the active needle deflection in liver and prostate tissue by applyi...
Poster
Full-text available
This research investigates the effectiveness of a composite coating consisting of Polydopamine (PDA), Polytetrafluoroethylene (PTFE), and Activated Carbon (C) to mitigate the potentially harmful effects of needle insertion forces. By evaluating the forces at the interface between the needle and tissue, this study aims to develop a model incorporati...
Poster
Full-text available
Percutaneous needle insertion has become a standard procedure in the region of open surgery, notably for biopsies of abdominal tumors, breast cancer, and prostate cancer [1]. In many cases, achieving high needle targeting accuracy is difficult due to the complexity of the human body tissues. Therefore, it is essential to study and model the steerin...
Presentation
A conformal semi-automated needling device can benefit a variety of percutaneous medical procedures such as biopsy, brachytherapy, gene therapy, RF-ablation, cryotherapy, in-vivo analysis, local delivery of drugs, etc. This needling device should be flexible enough for geometric conformality to avoid the critical organs and obstacles, or significan...
Preprint
Full-text available
The objective of this project is to develop an automated device used to spot protein samples on a hydrophobic membrane to be used for the patented electrophoresis method developed by Chang and Yonan in 2008 [1]. This novel method performs electrophoresis directly on hydrophobic blot membranes as opposed to the previous popular methods such as the 2...
Data
Available surgical needles for biopsy medical procedures have been known to cause severe tissue damage and suffer from needle path deflection as they advance through soft tissues. There is a continuously growing need for a less invasive needle for soft tissue insertion in the medical community. Even slight movement of the soft tissue or needle duri...
Presentation
We present smart steerable biopsy needles with actuators that enable active steering towards a target region during insertion into tissues. https://icorpsnortheasthub.org/events/2022/engage-2022-i-corps-showcase
Conference Paper
Full-text available
Percutaneous needle insertion has become a standard procedure in open surgery, notably for biopsiesof abdominal tumors, breast cancer, and prostate cancer [1]. However, the needle insertion into a target is difficult because it can be deflected easily due to the design of the needle tip. This deflection can cause the needle to miss its target, and...
Conference Paper
In a minimally invasive percutaneous process like biopsy, brachytherapy, and tissue ablation, the inner soft tissue is accessed through surgical needle-puncture of the skin. This process reduces tissue damage and risk of infection and improves patient recovery time. However, its effectiveness depends on the needle's ability to travel on a curved pa...
Article
Full-text available
Introduction: Many percutaneous procedures utilize surgical needles to extract tissue samples in biopsy or to apply specific cancer treatments. A design of mosquito-inspired surgical needles was proposed to improve the efficacy of these procedures by reducing the needle insertion force and the resulting tissue damage. The focus of this study is to...
Article
Full-text available
Bioinspired surgical needle designs based on honeybee and mosquito stingers are discussed to introduce to K-12 students to STEM areas and careers. Research activities performed by PhD students in the Composites Laboratory at Temple University were also showcased to inspire future generation of engineers.
Conference Paper
Considerable research efforts have been devoted for studying the interaction between surgical needles and soft tissues which can be used to evaluate the deflection of a bevel-tip needle inside a tissue. The development of an analytical model to predict the steering behavior of the needle during needle-tissue interactions could improve the performan...
Conference Paper
The targeting error with surgical needles in percutaneous procedures is the major factor that undermines their efficacy. The limitations in trajectory correction to reduce this error during the insertion have motivated researchers to develop actuation mechanisms in needles. The study of shape memory alloy (SMA) wire actuators in needles has gathere...
Article
This research aims to study the effect of a composite coating comprised of polydopamine (PDA), polytetrafluoroethylene (PTFE), and activated Carbon on the insertion mechanics of surgical needles in tissues i.e., polyvinyl chloride (PVC) tissue phantom and bovine kidney. A needle insertion and extraction test system was designed and constructed to m...
Article
Full-text available
A leading cause of traumatic brain injury (TBI) is intracranial brain deformation due to mechanical impact. This deformation is viscoelastic and differs from a traditional rigid transformation. In this paper, we describe a machine learning enabled wireless sensing system that predicts the trajectory of intracranial brain deformation. The sensing sy...
Poster
Full-text available
This study proposes a design and application of shape memory alloy (SMA) wire actuator for making an active steerable surgical needle using both experimental and computational method. The active steerable needles are able to change direction during insertion into a tissue to compensate for possible misplacement and thus reach desired target. This s...
Conference Paper
Full-text available
Significant research efforts have been focused on modeling the interaction between surgical needles and soft tissues which can be used to measure the deflection of a bevel-tip needle inside soft tissue. The development of such a model, which predicts the steering behavior of the needle during needle-tissue interactions, could improve the performanc...
Conference Paper
This study is aimed to evaluate the effects of coated surgical needles with composite polymers such as polydopamine (PDA), polytetrafluoroethylene (PTFE), and carbon. The coated needle’s lubrication properties were measured using 3 DOF force sensors and 3D robot system by the repetitive insertion in soft tissue materials. Needle durability is a mea...
Conference Paper
Full-text available
Insects steer their stingers effortlessly to a specific target and release their venom in a certain path through the skin with minimal pain. These unique traits inspire the idea to develop bioinspired needles to reduce the insertion forces and to decrease the needle path deviation (deflection) for improved targeting accuracy. Our approach in this w...
Article
Acute bronchiolitis is a common global lower respiratory disease that can cause bronchiole restrictions and respiratory distress in infants. A Finnish study found that 37 per 1,000 infants attended emergency departments each year because of bronchiolitis, and 70% were hospitalised. Predicting of length of stay (LOS) could safely reduce hospitalizat...
Article
Full-text available
The design of surgical needles used in biopsy procedures have remained fairly standard despite the increase in complexity of surgeries. Higher needle insertion forces and deflection can increase tissue damage and decrease biopsy sample integrity. To overcome these drawbacks, we present a novel bioinspired approach to reduce insertion forces and min...
Presentation
Full-text available
Dr. Parsaoran Hutapea shared his journey from an undergraduate student to an academic. He discussed how he pursued his “dream” to be an aerospace engineer by earning Aerospace Engineering degrees, starting with a bachelor and then completing his MS and PhD degrees studying composite materials for spacecraft applications. Later in life, he learned t...
Conference Paper
Full-text available
Significant research efforts have been focused on modeling the interaction between surgical needles and soft tissues. These models are useful for studying tissue damage caused by the needle due to the insertion forces generated from the interaction between the needle and the tissue. The models can be used to observe the effects of needle physical p...
Conference Paper
Full-text available
This study aimed to evaluate the effect of coated surgical needles with composite polymers such as polydopamine(PDA), polytetrafluoroethylene(PTFE), and carbon. The coated needle lubrication properties were measured using force sensors and 3D robot system by repetitive insertion in the phantom tissue. The surface roughness of the needle is measured...
Conference Paper
Full-text available
Nitinol or shape memory alloy wires have gained increased usage in medical devices like steerable catheters, needles, prosthetics, orthodontics and stents because of their bio-compatibility and high strain for a low specific actuation force. Their application in designing active biomedical devices come from its shape memory effect and pseudo-elasti...
Conference Paper
Full-text available
Simulation of surgical procedures provides a safe and potentially effective method for surgical training and robot-assisted surgery for pre- and intra-operative planning. Accurate modeling of the mechanical behavior of the interface of surgical needles and organs has been well recognized as a major challenge in the development of reliable surgical...
Conference Paper
Full-text available
Design stagnation of traditional surgical needles results in high insertion force and needle tip deflection from the injection path. Higher forces and deflection can increase tissue damage, decrease biopsy sample integrity, and increase patient recovery time. This damage is magnified in softer body tissues, such as, brain white matter or breast adi...
Conference Paper
Full-text available
Surgical needles are commonly used by medical specialists to reach target locations inside of the body for disease diagnosis or other medical interventions, such as biopsy, brachytherapy, thermal ablation, and drug delivery. Insertion of the needle in human body parts with a larger needle often results in severe tissue damage. Tissue damage could p...
Poster
Full-text available
This project aims to develop advanced manufacturing method that is suitable to integrate actuating and/or sensing elements to surgical devices, which will enable in-situ monitoring and active control of such medical devices. Specifically, this work focuses on surgical needles containing Nitinol shape memory alloy (SMA) wires. The objectives are: 1)...
Conference Paper
Full-text available
Recently there has been a growing interest to develop innovative surgical needles for percutaneous interventional procedures. Needles are commonly used to reach target locations inside of the body for various medical interventions. The effectiveness of these procedures depends on the accuracy with which the needle tips reach the targets, such as a...
Conference Paper
Full-text available
Intraoperative brain deformation from neurosurgical needles or other load applying procedures can risk traumatic brain injury. Soft tissue, like the brain, is easily deformed even by light touch. Needle insertion leads to tissue rupture causing a sudden release of strain energy and the propagation of micro-cracks around the puncture site. The relea...
Article
Full-text available
A novel bioinspired design for surgical needles was proposed in our previous work which reduces insertion and extraction forces during needle-based procedures. The results obtained from insertion and extraction tests into artificial and biological tissues showed 35-45% reduction in the insertion force, and 15-20% reduction in the extraction force u...
Article
Surgical needles are commonly used to reach target locations inside of the body for percutaneous procedures. The major issues in needle steering in tissues are the insertion force which causes tissue damage and the tissue deformation that causes the needle path deviation (i.e., tip deflection) resulting in the needle missing the intended target. In...
Article
Full-text available
The focus of this paper is to present new designs of innovative bioinspired needles to be used during percutaneous procedures. Insect stingers have been known to easily penetrate soft tissues. Bioinspired needles mimicking the barbs in a honeybee stinger were developed for a smaller insertion force, which can provide a less invasive procedure. Decr...
Poster
Full-text available
Needles are commonly used to reach target locations inside of the body for various medical interventions. The effectiveness of these procedures depends on the accuracy with which the needle tips reach the targets. One of the major issues in needle steering is the insertion (penetration) force. The insertion force causes tissue damage as well as tis...
Article
Full-text available
Introduction: Most studies to date confirm that any increase in the needle insertion force increases the damage to the tissue. When it comes to brain tissue, even minor damage can cause a long-lasting traumatic brain injury. Thus there is a great demand for innovative minimally invasive needles among the medical community. In our previous studies a...
Conference Paper
Full-text available
Surgical needles are widely used in minimally invasive surgery procedures such as tissue/tumor biopsy, deep brain stimulation, thermal ablation, brachytherapy and most importantly drug delivery. There has been a growing interest to design and develop innovative needles to improve the current state of the art needling technology. In the aforemention...
Poster
Full-text available
Surgical needles are widely used in minimally invasive surgery procedures such as tissue/tumor biopsy, deep brain stimulation, thermal ablation, brachytherapy and most importantly drug delivery. There has been a growing interest to design and develop innovative needles to improve the current state of the art needling technology. In the aforemention...
Conference Paper
Full-text available
Needles are among the most common used instruments in surgery by medical professionals either for diagnosing the disease such as biopsy or for medical intervention such as drug delivery. Generally, needles are assumed to be minimally invasive, however it is desirable to decrease the insertion and pulling out force in order to prevent tissue damages...
Conference Paper
Although needle-based surgeries are considered as minimally invasive surgeries, the damage caused by the needle insertion in soft tissues, namely brain needs to be reduced. Any minor damage, swelling or bleeding in the brain tissue can lead to a long-lasting traumatic brain injury. Our approach to this challenge is to search for a proper solution i...
Conference Paper
Full-text available
Biopsy involves removing a piece of tissues for further medical examination. Brain biopsy is generally performed using different techniques, such as open biopsy, stereotactic core biopsy, and needle biopsy. Open biopsy is the most common and the most invasive form of the brain biopsy. During the procedure, a piece of the skull is removed and the br...
Conference Paper
Full-text available
Smart Memory Alloys have brought a range of new capabilities to existing and novel designs due to their unique properties and ability to induce stress and strain in the material due to thermomechanical loading. Shape memory alloy-based smart material has widely been used and studied for biomedical applications. This includes smart needle for percut...
Article
Full-text available
This work aims to introduce a new needle insertion simulation to predict the deflection of a bevel-tip needle inside soft tissue. The development of such a model, which predicts the steering behavior of the needle during needle-tissue interactions, could improve the performance of many percutaneous needle-based procedures such as brachytherapy and...
Conference Paper
Full-text available
Surgical needles are commonly used by medical professionals to reach target locations inside of the body for disease diagnosis or other medical interventions — such as biopsy, brachytheraphy, thermal ablation, and drug delivery [1, 2]. The effectiveness of these procedures depends on the accuracy with which the needle tips reach the targets, such a...
Poster
Full-text available
Recently there has been a substantial and growing interest in the medical community to develop innovative surgical needles for percutaneous interventional procedures. The answer to the challenge of developing advanced surgical needles could be found in nature. Insects such as honeybees, mosquitos, and horse flies have sophisticated sting mechanics...
Conference Paper
Full-text available
Shape memory alloy (SMA) materials, such as Nickel Titanium (NiTi), can generate stress and strain during phase transformation induced by thermomechanical stimulation. Therefore, they may be used to construct active actuating devices for various biomedical applications such as smart surgical tools. Since temperature rise during the operation of SMA...
Conference Paper
Full-text available
Polydopamine Based Insulating Coating for Shape Memory Alloy Biomedical Devices
Article
The widespread use of H2 gas as an energy carrier will necessitate the development of inexpensive, easily manufactured sensors which reliably monitor gas levels where H2 is used, transported, and stored. Nanogap sensors transduce the volume expansion which accompanies hydrogen uptake by palladium-based metal-hydrides into an electrical signal throu...
Article
Flexible needles with enhanced steerability are desired in minimally invasive surgeries to reach target locations precisely and to bypass critical organs lying in the planned path. We have proposed a flexure-based active needle that enhances steerability by using a flexure element near the needle tip. Needle curvature is controlled by attached shap...
Conference Paper
Full-text available
This paper presents a robotic needling system for needle-based percutaneous procedures. This is a novel noninvasive approach being used in many therapeutic surgeries such as brachytherapy where surgeons insert radioactive seeds in a cancerous prostate to kill the unhealthy parts of tissue locally. Studies presented in this work would assist the pre...
Presentation
Full-text available
The ultimate research goal of the Composites Laboratory is to design and manufacture an innovative flexible/smart needle that can be used in various surgical procedures that use robotics surgery equipment. The smart needle is an actuating needling device for percutaneous intervention in soft tissue with greater flexibility and maneuverability, allo...
Article
Full-text available
In this paper, closed loop nonlinear control of a shape memory alloy (SMA) actuated flexible needle is presented. Merits of different modalities of sensory feedbacks are studied. In order to track the given desired trajectory, the actual position of the needle tip is controlled using three different feedback signals (i) Vision, (ii) Electromagnetic...
Article
Full-text available
An active flexible needle is a self-actuating needle that can bend in the tissue and reach the clinical targets while avoiding anatomic obstacles. In robot-assisted needle-based medical procedures, motion planning is a vital aspect of operations. It is challenging due to the nonholonomic motion of the needle and the presence of anatomic obstacles a...
Conference Paper
Full-text available
Over the last two decades, researchers have been interested to provide actuation and control for surgical needles. It has been recently suggested to utilize shape memory alloy (SMA) wires to provide bending forces to activate the conventional straight needles. In this paper a design of an active needling system has been proposed where actuation for...
Conference Paper
Full-text available
In the last two decades it has been proposed to use actuation forces of shape memory alloy wires to develop an active needling tool to facilitate the conventional needle-based procedures. In these procedures it is always desired to guide the needle though an accurate trajectory reaching the target location. In some cases it is also desired to maint...
Conference Paper
Full-text available
This paper presents the experimental evaluation of a coordinated control system for a robot and robot-driven shape memory alloy (SMA) actuated smart flexible needle capable of following a curved path for percutaneous intervention. The robot driving the needle is considered the outer loop and the non-linear SMA actuated flexible needle system compri...
Article
Full-text available
Needle insertion technique is a common minimally invasive operation, which has received a great deal of interest recently among physicians. This innovative technique is being used in many diagnoses and interventions inside the human body; among them are drug delivery, thermal ablation, tissue biopsy, and brachytherapy. The success of such procedure...
Article
Full-text available
Outstanding properties of nitinol, known as shape memory and superelasticity, make them suitable alternatives in several biomedical, aerospace, and civil applications. For instance, nitinol wires have been used as the actuator components in many innovative medical devices aiming to make surgical tasks less invasive and more efficient. In most of th...
Article
To quantify the effects of tissue interference on electromagnetic (EM) sensing and ultrasound (US) imaging feedback modalities for controlling a robot-guided medical needle interventions. First, the experimental set up to control the robot-guided needle insertion with and without tissue interference involving 6-DOF EM (Aurora, NDI, Waterloo, Canada...
Article
Full-text available
Needle insertion is used in many diagnostic and therapeutic percutaneous medical procedures such as brachytherapy, thermal ablations, and breast biopsy. Insufficient accuracy using conventional surgical cannulas motivated researchers to provide actuation forces to the cannula's body for compensating the possible errors of surgeons/physicians. In th...
Conference Paper
Full-text available
The accuracy of many needle-based therapeutic procedures depends on the placement of the needle tip to desired locations. In many of these procedures, lack of actuation and dexterity of the device limits the surgeon’s capability to compensate for the probable errors. To overcome these limitations shape memory alloy (SMA) wire actuators were attache...
Conference Paper
Full-text available
This project involves the design of an active needle with enhanced mobility, flexibility, and control within tissues during diagnostic and percutaneous medical procedures. The design utilizes the shape memory, super-elastic, and thermo-mechanical properties of Nitinol, a smart memory alloy (SMA) made of nickel and titanium, to construct a steerable...