Reaching inaccessible anatomy percutaneously via multi-lumen steerable needles

Principal Investigator: Ron Alterovitz
Funding Agency:Vanderbilt University
Agency Number: 21135-S1

Abstract
The objective of this proposal is to develop multi-lumen steerable needles capable of controllable curved paths through both soft tissues and open cavities. Multiple lumens will enable these needles to act in a 'tentacle-like' manner (controlling shaft shape and curvature) in open cavities, and as a tip-steered needle (dynamically modifying forward cutting trajectory) when embedded in soft tissues. We will develop simulation, planning, and control systems for these new multi-lumen steerable needles, enabling them to be actuated (robotically or manually, depending on application) to reach a target while avoiding obstacles such as nerves, blood vessels, etc., which are identified in medical images. We will evaluate these new devices and methods in phantom and ex-vivo tissues to establish the feasibility of the approach. Working with clinical collaborators, we will investigate the potential of these devices and methods for clinical percutaneous procedures in breast, liver, prostate, kidneys, brain, and other tissues. This research is well-suited for the high risk/high impact NIH R21 mechanism. It is high risk since multi-lumen steerable needles are new devices; they have never before been robotically controlled, their interaction with soft tissue has not previously been modeled or simulated, and motion planners that consider the kinematic and dynamic constraints of these devices have not been developed. This work is high impact since our new multi-lumen steerable needles will enable minimally invasive, percutaneous, highly accurate delivery of surgical instruments to previously inaccessible targets.