Fracture-directed steerable needles
Inventors
Assignees
Washington State University WSU
Publication Number
US-11103278-B2
Publication Date
2021-08-31
Expiration Date
2038-09-17
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Abstract
The present embodiments herein relate to an improved needle design and control methodology for fractured directed guiding to a desired target. This system has the capability to control the insertion not only in 2D-plane, but also in 3D-space in a very controlled manner. A method of controlling the path of movement of a needle structure toward a target can include a stylet type of needle configuration or a water-jet needle configuration.
Core Innovation
The invention provides an improved needle design and methodology for fracture-directed steering of needles toward a desired target. The system enables controlled insertion of needles not only in two-dimensional planes but also in three-dimensional space with high precision. Two primary configurations are described: one using a spiral stylet within a hollow tube, and another utilizing a water-jet nozzle at the distal tip of the needle, both capable of steering the needle along a prescribed path inside tissue.
Existing steerable needle technologies face significant limitations, including inability to maintain a substantially straight trajectory when navigating variable tissues, and limited steerability due to mechanical design constraints. Prior approaches such as bevel-tipped steering, pre-bend steering, duty-cycle steering, and magnetic actuation, while advancing steerability, still introduce undesirable tissue deformation and have limited adaptability to tissue inhomogeneity or organ movement.
The present embodiments solve these issues by introducing a fracture-directed steering system that first creates a controlled tissue fracture using either a spiral stylet or a water jet, and then advances the needle to follow this path. This methodology allows for accurate steering around obstructions and correction for internal disturbances, resulting in improved targeting for therapies and biopsies. The system is capable of achieving highly controllable curvatures, using stepwise advancement and rotational control, and introduces the use of water-jet steering for minimally invasive and precise tissue manipulation.
Claims Coverage
The independent claim outlines a method comprising several inventive features for steering a needle structure toward a desired target using a water-jet mechanism.
Water-jet steered needle with nozzle angle control
A needle structure comprising a cannula fluid conduit coupled to a nozzle at its distal end, where the nozzle is configured to eject a desired fluid flow rate to provide a water jet. The inventive aspect includes actively steering the nozzle away from the longitudinal axis, such that the nozzle is not colinear with the cannula, to control the direction of progression through tissue. The method involves: 1. Inserting the needle into tissue media, with the water-jet enabled nozzle at the distal tip. 2. Steering the nozzle angle away from the cannula's longitudinal axis to direct the needle structure's path in three dimensions. 3. Pulsing or continuously providing a fluid flow to fracture tissue in a direction determined by the nozzle's orientation. 4. Externally pushing the needle to follow the fractured path. 5. Continually updating the nozzle angle to adjust the trajectory and repeating the process until the needle reaches the target location. The core inventive features are the use of a steerable water-jet nozzle capable of controlled articulation and path formation within tissue, the creation of fracture paths by fluid jetting, and a methodology for dynamically guiding and updating the steering during advancement.
The claims cover methods for steering a needle using a water-jet mechanism by controlling the nozzle orientation relative to the cannula, dynamically creating a path through tissue, and precisely following this path to a target location.
Stated Advantages
Improves the accuracy of therapies and biopsies by enabling steering to a target location around obstructions, correcting for disturbances, and accounting for movement of internal organs.
Achieves a substantially straight trajectory through tissue even in the presence of tissue changes and membranes, while providing a higher level of steerability compared to existing tip-steerable needle techniques.
Allows for precise, minimally invasive cuts with sub-millimeter accuracy, reducing collateral tissue damage and minimizing temperature-related damage due to the cooling action of the water-jet.
Enables high dexterity needle steering by providing controllable and repeatable radii of curvature unattainable through current needle steering technologies.
Reduces the cutting force to only friction force when using the water-jet, leading to increased accuracy of needle placement and improved patient comfort.
Documented Applications
Guiding needles for improved accuracy in therapies and biopsies, allowing safe navigation around obstructions and dynamic correction for organ movement.
Minimally invasive medical procedures requiring precise needle steering, including resections, excision, incision, and aspiration.
Use in surgical procedures such as soft tissue resection, wound debridement, and surgery (including renal and Glioma surgical procedures) utilizing steerable water-jet needle technology.
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