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A Survey of Needle Steering Approaches in Minimally Invasive Surgery

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Abstract

In virtue of a curved insertion path inside tissues, needle steering techniques have revealed the potential with the assistance of medical robots and images. The superiority of this technique has been preliminarily verified with several maneuvers: target realignment, obstacle circumvention, and multi-target access. However, the momentum of needle steering approaches in the past decade leads to an open question—“How to choose an applicable needle steering approach for a specific clinical application?” This survey discusses this question in terms of design choices and clinical considerations, respectively. In view of design choices, this survey proposes a hierarchical taxonomy of current needle steering approaches. Needle steering approaches of different manipulations and designs are classified to systematically review the design choices and their influences on clinical treatments. In view of clinical consideration, this survey discusses the steerability and acceptability of the current needle steering approaches. On this basis, the pros and cons of the current needle steering approaches are weighed and their suitable applications are summarized. At last, this survey concluded with an outlook of the needle steering techniques, including the potential clinical applications and future developments in mechanical design.

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Abbreviations

BT:

Brachytherapy

CED:

Convection-enhanced delivery

CT:

Computed tomography

CTN:

Concentric tube needle

DBS:

Deep brain stimulation

DOF:

Degree of freedom

G:

Gauge

HCC:

Hepatocellular carcinoma

TBNA:

Transbronchial needle aspiration

ICH:

Intracranial hemorrhage

MIS:

Minimally invasive surgery

MRI:

Magnetic resonance imaging

MWA:

Microwave ablation

PAI:

Pubic arch interference

PBN:

Programmable bevel-tip needle

PCNL:

Percutaneous nephrolithotomy

RFA:

Radiofrequency ablation

ROC:

Radius of curvature

SMA:

Shape memory alloy

US:

Ultrasound

3D:

Three dimensional

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Acknowledgements

This work was supported by the Natural Science Foundation of Jiangsu Province [Grant No. BK20210294], the Fundamental Research Funds for the Central Universities [Grant No. NS2022051], Knowledge Innovation Program of Wuhan-Shuguang Project [Grant No. 2023010201020252], and Guangdong Basic and Applied Basic Research Foundation [Grant No. 2023A1515110156].

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  1. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China

    Yuzhou Duan, Jie Ling & Yuchuan Zhu

  2. School of Power and Mechanical Engineering, Wuhan University, Wuhan, 430072, China

    Zhao Feng

  3. Wuhan University Shenzhen Research Institute, Shenzhen, 518057, China

    Zhao Feng

  4. Industrial and Systems Engineering Department, The Hong Kong Polytechnic University, Hong Kong SAR, 999077, China

    Tingting Ye

  5. School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai, 200093, China

    Tairen Sun

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Duan, Y., Ling, J., Feng, Z. et al. A Survey of Needle Steering Approaches in Minimally Invasive Surgery. Ann Biomed Eng (2024). https://doi.org/10.1007/s10439-024-03494-0

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