An Autoclavable Steerable Cannula Manual Deployment Device -- Design and Accuracy Analysis
ASME Journal of Medical Devices, 6 (4), pp. 041007(7), 2012
Abstract
Accessing a specific, predefined location identified in medical images is a common inter-ventional task for biopsies and drug or therapy delivery. While conventional surgicalneedles provide little steerability, concentric tube continuum devices enable steeringthrough curved trajectories. These devices are usually developed as robotic systems.However, manual actuation of concentric tube devices is particularly useful for initialtransfer into the clinic since the Food and Drug Administration (FDA) and InstitutionalReview Board (IRB) approval process of manually operated devices is simple comparedto their motorized counterparts. In this paper, we present a manual actuation device forthe deployment of steerable cannulas. The design focuses on compactness, modularity,usability, and sterilizability. Further, the kinematic mapping from joint space to Carte-sian space is detailed for an example concentric tube device. Assessment of the device’saccuracy was performed in free space, as well as in an image-guided surgery setting,using tracked 2D ultrasound.[DOI: 10.1115/1.4007944]