Bardia Konh | Temple University (original) (raw)

Papers by Bardia Konh

Journal of Medical Devices, 2015

ABSTRACT Needle insertion is used in many diagnostic and therapeutic percutaneous medical procedu... more ABSTRACT 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 this study, we present the feasibility of using shape memory alloy (SMA) wires as actuators for an active steerable surgical cannula. A three-dimensional (3D) finite element (FE) model of the active steerable cannula was developed to demonstrate the feasibility of using SMA wires as actuators to bend the surgical cannula. The material characteristics of SMAs were simulated by defining multilinear elastic isothermal stress–strain curves that were generated through a matlab code based on the Brinson model. Rigorous experiments with SMA wires were done to determine the material properties as well as to show the capability of the code to predict a stabilized SMA transformation behavior with sufficient accuracy. In the FE simulation, birth and death method was used to achieve the prestrain condition on SMA wire prior to actuation. This numerical simulation was validated with cannula deflection experiments with developed prototypes of the active cannula. Several design parameters affecting the cannula's deflection such as the cannula's Young's modulus, the SMA's prestrain, and its offset from the neutral axis of the cannula were studied using the FE model. Real-time experiments with different prototypes showed that the quickest response and the maximum deflection were achieved by the cannula with two sections of actuation compared to a single section of actuation. The numerical and experimental studies showed that a highly maneuverable active cannulas can be achieved using the actuation of multiple SMA wires in series.

Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation and Control of Adaptive Systems; Integrated System Design and Implementation, 2013

Nitinol has the best shape memory and superelasticity properties of all known polycrystalline sha... more Nitinol has the best shape memory and superelasticity properties of all known polycrystalline shape memory alloys (SMAs) due to diffusionless Martensitic transformation. Due to these unique properties, Nitinol is increasingly used in different fields such as biomedical, structural and aerospace engineering. However, under certain stresses Nitinol exhibits unrecovered strain, or permanent set, that limits the applicability of Nitinol wire. This study showed that there exists a critical range of stress beyond which the permanent set is negligible. The goal of this paper is to determine range of critical stress using two different methods i.e. constant stress experiment and isothermal tensile test and to show variation of this range with changes in wire diameters.

Volume 2: Mechanics and Behavior of Active Materials; Integrated System Design and Implementation; Bio-Inspired Materials and Systems; Energy Harvesting, 2012

Surgical needles, for safe and accurate percutaneaous interventions, need to be navigated accurat... more Surgical needles, for safe and accurate percutaneaous interventions, need to be navigated accurately through the tissue and placed precisely at the targets. A novel active needle, using Nitinol wires as actuators, has been proposed to navigate the needle within the tissue. In this design, when temperature of Nitinol wire was increased by Joule heating, the material undergoes a phase transformation that produces relatively large actuating forces and strains. Using both experimental and numerical simulations, the force-temperature response of the Nitinol wires were characterized. The results indicate that increasing the applied current decreases the response time to reach maximum force, but increases the maximum temperature reached. Therefore, the chosen applied current should be high enough to produce sufficient actuation force and shorter response time, but not too high such that the lower actuator temperatures are maintained to minimize tissue damage.

Active needles are recently being developed to improve steerability and placement accuracy for va... more Active needles are recently being developed to improve steerability and placement accuracy for various medical applications. These active needles can bend during insertion by actuators attached to their bodies. The bending of active needles enables them to be steered away from the critical organs on the way to target and accurately reach target locations previously unachievable with conventional rigid needles. These active needles combined with an asymmetric bevel-tip can further improve their steerability. To optimize the design and to develop accurate path planning and control algorithms, there is a need to develop a tissue-needle interaction model. This work presents an energy-based model that predicts needle deflection of active bevel-tipped needles when inserted into the tissue. This current model was based on an existing energy-based model for bevel-tipped needles, to which work of actuation was included in calculating the system energy. The developed model was validated with needle insertion experiments with a phantom material. The model predicts needle deflection reasonably for higher diameter needles (11.6% error), whereas largest error was observed for the smallest needle diameter (24.7% error).

Medical Engineering & Physics, 2014

This study presents a polyacrylamide gel as a phantom material for needle insertion studies speci... more This study presents a polyacrylamide gel as a phantom material for needle insertion studies specifically developed for self-actuating needles to enhance the precise placement of needles in prostate. Bending of these self-actuating needles within tissue is achieved by Nitinol actuators attached to the needle body; however these actuators usually involve heating that can thermally damage the tissue surrounding the needles. Therefore, to develop and access feasibility of these needles, a polyacrylamide gel has been developed that mimics the thermal damage and mechanical properties of prostate tissue. Mechanical properties of the polyacrylamide gel was controlled by varying the concentrations of acrylamide monomer and N,N-methylene-bisacrylamide (BIS) cross-linker, and thermal sensitivity was achieved by adding bovine serum albumin (BSA) protein. Two polyacrylamide gels with different concentrations were developed to mimic the elastic modulus of the tissue. The two phantoms showed different rupture toughness and different deflection of bevel-tip needle. To study the thermal damage, a Nitinol wire was embedded in the phantom and resistively heated. The measured opaque zone (0.40 mm) formed around the wire was close to the estimated damage zone (0.43 mm) determined using the cumulative equivalent minutes at 43 • C.

2014 40th Annual Northeast Bioengineering Conference (NEBEC), 2014

Flexible needles that can be steered within soft tissues are a promising approach to reach target... more Flexible needles that can be steered within soft tissues are a promising approach to reach target locations that are previously inaccessible and to improve the placement accuracy. Promising designs to increase flexibility include the bevel-tipped needles, kinked needles and the recently proposed flexure-based needles, where they attain a fixed curvature when inserted. We developed a flexible active needle, where needle curvature (or deflection) can be controlled by actuators attached to the needle body. Moreover, to further increase the flexibility a flexure element was used to join the needle tip to the rest of the needle body. A prototype of the flexure active needle was developed and demonstrated both in air and tissue-mimicking phantom.

Volume 2: Mechanics and Behavior of Active Materials; Integrated System Design and Implementation; Bioinspired Smart Materials and Systems; Energy Harvesting, 2014

The continuous implementation of shape memory alloys' (SMAs') actuation capabilities in various a... more The continuous implementation of shape memory alloys' (SMAs') actuation capabilities in various applications from aerospace to biomedical tools has attracted researchers' interests into design optimization of active systems. Traditional methods of optimization have mostly relied on several iterations of altering and testing different possible design of prototypes seeking the best configuration. This trial and error experimentation method is usually expensive and time consuming. In the recent years the availability of computational analysis has facilitated the optimization process by avoiding the developments of many prototypes in the whole design space. In this work an automated design optimization frameworks is presented especially for the systems including active components. Design exploration of a recently proposed medical device was considered as a case study to elaborate this iterative technique. SMA activated needle is an innovative medical tool to be used in needle-based surgeries aiming the enhancement of the needle tip placement inside the tissue. Different configurations have been assessed by altering the design variables in the assigned domain seeking the maximum needle tip deflection to assure the maximum flexibility of the structure where all the analyses were constrained to the stress level of SMAs to be in the safe range preventing plasticity. A commercially available finite element package was used for the iterative assessments in the optimization approach. The challenging part in any analysis of active components is the incorporation of a suitable material model. For this purpose three experimental setups were developed to get the material properties of SMAs through different responses of the wires. These material properties along with the implementation of Brinson model led to the generation of the isothermal stress strain curves which were defined as material model of the active components in the FE analyses. The FE model was then linked to the iterative engine of direct optimization to iterate through the whole domain and determine the best configuration. The Design of Experiments (DOE) and the Multi-Objective Genetic Algorithm (MOGA) were used for the case study optimization. Both the design optimization and the design sensitivity studies were described. The results showed the length of the needle and the offset between the neutral axis of needle and the actuator were the most sensitive variables. The best five configurations with the maximum tip deflection was also presented.

Behavior and Mechanics of Multifunctional Materials and Composites 2015, 2015

Due to its outstanding properties of Nitinol, known as shape memory and superelasticity, Nitinol ... more Due to its outstanding properties of Nitinol, known as shape memory and superelasticity, Nitinol wires have been used as actuators in many medical devices. For the medical applications, it is critical to have a consistent strain response of Nitinol wires. This work focuses on studying the effect of parameters such as biased stress, maximum temperature, and wire diameters that influence the strain response of Nitinol wires. Specifically, Nitinol phase transformations were studied from microstructural point of view. The crystal structures of one-way shape memory Nitinol wires of various diameters under different thermomechanical loading conditions were studied using X-Ray Diffraction (XRD) method. The location and intensity of characteristic peaks were determined prior and after the thermomechanical loading cycles. It was observed that Nitinol wires of diameters less than 0.19 mm exhibit unrecovered strain while heated to the range of 70ºC to 80ºC in a thermal cycle, whereas no unrecovered strains were found in larger wires. The observation was supported by the XRD patterns where the formation of R-phase crystal structure was showed in wire diameters less than 0.19 mm at room temperature.

Volume 2: Mechanics and Behavior of Active Materials; Structural Health Monitoring; Bioinspired Smart Materials and Systems; Energy Harvesting, 2013

In this article we present the feasibility of using the shape memory alloy (SMA) wires, namely Ni... more In this article we present the feasibility of using the shape memory alloy (SMA) wires, namely Nitinol, as an actuator for a steerable surgical cannula. A 3D finite element (FE) model of the actuated steerable cannula was then developed in ANSYS to show deflection of the surgical cannula under the actuation force. The behavior of SMAs was simulated by defining the isothermal stress-strain curves using the multi-elasticity capability of ANSYS. The transformation temperatures of the Nitinol wire at different levels of stress were gathered to form the transformation diagram. Using the one-dimensional Brinson model, the isothermal stress-strain response of the wire was obtained. The thermomechanical characteristics of SMAs were also studied completely by a series of experiments performed on the wires. Birth and death method was used in the solution procedure to have the prestrain condition on Nitinol wire prior to the actuation step. A prototype of the actuated steerable cannula was also developed to validate the numerical simulation. Finally a study was done on design parameters affecting the deflection such as Young's modulus of cannula, SMA diameter and its offset from the neutral axis of the cannula which can be useful in design optimization.

Volume 2: Mechanics and Behavior of Active Materials; Integrated System Design and Implementation; Bioinspired Smart Materials and Systems; Energy Harvesting, 2014

Flexible needles that can be steered within soft tissues are a promising approach to precisely re... more Flexible needles that can be steered within soft tissues are a promising approach to precisely reach target locations, thereby can significantly benefit needle based surgical procedures such as brachytherapy and biopsy. Several design approaches have been suggested to increase needle flexibility that include beveltipped needles, kinked needles and flexure-based needles. These needles when inserted into a soft materials takes a curved path. This curved path can be controlled while inserting by rotating the needle at its base. In this work another approach to control the curved path was explored. Here the needle body was attached with a shape memory alloy (SMA) actuator close the needle tip that when actuated bends the needle and thereby leads to a curved path inside soft tissue. A prototype of the SMA actuated needle was developed and the working principle was demonstrated in air, tissue-mimicking gel, and pig liver. Moreover, the effect of actuator wire diameter on the needle behavior were studied.

ASME 2013 Conference on Frontiers in Medical Devices: Applications of Computer Modeling and Simulation, 2013

In this article we present a finite element simulation of an active steerable surgical needle. Th... more In this article we present a finite element simulation of an active steerable surgical needle. The highly maneuverable actuated needle can be utilized in many cases involving diagnostic and therapeutic percutaneous procedures; for example, in prostate brachytherapy. To make the surgical needle able to navigate through the tissue accurately, avoiding sensitive organs, external bending forces are being provided by smart actuators attached to the needle body (see ). The shape memory alloy (SMA) wires, namely Nitinol, with unique properties of super-elasticity, shape memory effect, and biocompatibility are suitable as an actuator. The attached SMA wires contract when heated due to the phase transformation and therefore bends the needle. A 3D finite element (FE) model of the SMA actuated steerable needle was developed and validated by a prototype to show the feasibility of the design and also to study the factors influencing needle deflection.

Industrial and Commercial Applications of Smart Structures Technologies 2015, 2015

Shape memory alloy (SMA) actuated needle is currently being developed to assist surgeons/physicia... more Shape memory alloy (SMA) actuated needle is currently being developed to assist surgeons/physicians in their percutaneous interventional procedures. The proposed active surgical needle can potentially compensate the possible misplacements of the needle tip in the tissue benefiting from the improved navigation provided by the attached SMA actuators. In this study finite element tools have been utilized in order to maintain an optimum design of the active needle configuration. There are several parameters involved in the design affecting the active needle's applicability and maneuverability; among them are the length, diameter and the maximum residual strain of the SMA wires, the stiffness and diameters of the surgical needle and the offset distance between the needle and the actuator. For analyzing the response of the active needle structure a parametric model was developed in ANSYS. This model was linked to the automated optimization tools for an improved design of the active needle. The most sensitive parameters affecting the active needle's steerability were found to be the offset distance and the length of the needle. Considering the results and the clinical limitations, an improved design of the active needle was presented.

Medical Engineering & Physics, 2015

Majority of cancer interventions today are performed percutaneously using needle-based procedures... more Majority of cancer interventions today are performed percutaneously using needle-based procedures, i.e. through the skin and soft tissue. The difficulty in most of these procedures is to attain a precise navigation through tissue reaching target locations. To overcome this challenge, active needles have been proposed recently where actuation forces from shape memory alloys (SMAs) are utilized to assist the maneuverability and accuracy of surgical needles. In the first part of this study, actuation capability of SMA wires was studied. The complex response of SMAs was investigated via a MATLAB implementation of the Brinson model and verified via experimental tests. The isothermal stress-strain curves of SMAs were simulated and defined as a material model in finite element analysis (FEA). The FEA was validated experimentally with developed prototypes. In the second part of this study, the active needle design was optimized using genetic algorithm aiming its maximum flexibility. Design parameters influencing the steerability include the needle's diameter, wire diameter, pre-strain and its offset from the needle. A simplified model was presented to decrease the computation time in iterative analyses. Integration of the SMA characteristics with the automated optimization schemes described in this study led to an improved design of the active needle.

Active and Passive Smart Structures and Integrated Systems 2015, 2015

Recently, the concept of developing an active steerable needle has gathered a lot of attention as... more Recently, the concept of developing an active steerable needle has gathered a lot of attention as they could potentially result in an improved outcome in various medical percutaneous procedures. Compared to the conventional straight bevel tip needles, active needles can be bent by means of the attached actuation component in order to reach the target locations more accurately. In this study, the movement of the passive needle inside the tissue was investigated using numerical and experimental approaches. A finite element simulation of needle insertion was developed using LSDYNA software to study the maneuverability of the passive needle. The Arbitrary-Eulerian-Lagrangian (ALE) formulation was used to model the interactions between the solid elements of the needle and the fluid elements of the tissue. Also the passive needle insertion tests were performed inside a tissue mimicking phantom. This model was validated for the 150mm of insertion which is similar to the depth in our needle insertion experiments. The model is intended to be based as a framework for modeling the active needle insertion in future.

Journal of Materials Engineering and Performance, 2014

ABSTRACT Unique thermomechanical properties of Nitinol known as shape memory and superelasticity ... more ABSTRACT Unique thermomechanical properties of Nitinol known as shape memory and superelasticity make it applicable for different fields such as biomedical, structural, and aerospace engineering. These unique properties are due to the comparatively large recoverable strain, which is being produced in a martensitic phase transformation. However, under certain ranges of stresses and temperatures, Nitinol wires exhibit unrecovered strain. For cyclic applications, it is important to understand the strain behavior of Nitinol wires. In this study, the unrecovered strain of different Nitinol wire diameters was investigated using constant stress experiment. Uniaxial tensile test has been also performed to find the range of critical stresses. It was observed that the unrecovered strain produced in the first loading-unloading cycle affects the total strain in the subsequent cycles. Moreover, a critical range of stress was found beyond which the unrecovered strain was negligible while the wires heated up to the range of 70-80°C, depending on the wire diameters. The unrecovered strain of wire diameters of 0.19 mm and less was found to be sensitive to the critical stress. On the other hand, for wire diameters bigger than 0.19 mm this connection between the unrecovered strain and the critical stress was not observed for the same range of heating temperature.

Journal of Materials Engineering and Performance, 2015

ABSTRACT Outstanding properties of nitinol, known as shape memory and superelasticity, make them ... more ABSTRACT 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 these applications, it is desired to have a consistent strain response of nitinol wires; therefore, it is necessary to investigate the internal phase transformations from microstructural point of view. In this study, the effect of influencing factors such as biased stress during thermal cycle, the maximum temperature wires experienced during heating part of thermal cycle, and also wire diameters on the amount of unrecovered strain occurred between the first and the second thermal cycles has been investigated. The generation of different phase compositions in the same thermomechanical condition for different wire diameters has been discussed using x-ray diffraction (XRD) method. The location and intensity of characteristic peaks were studied prior and after the loading cycles. It was observed that nitinol wires of diameters less than 0.19 mm exhibit unrecovered strain while heated to the range of 70-80 �C in a thermal cycle, whereas no unrecovered strain was found in wires with larger diameter. The observation was supported by the XRD patterns where the formation of R-phase instead of martensite was shown in wire diameters of less than 0.19 mm after cooling back to room temperature.

Active and Passive Smart Structures and Integrated Systems 2015, 2015

Recently, the concept of developing an active steerable needle has gathered a lot of attention as... more Recently, the concept of developing an active steerable needle has gathered a lot of attention as they could potentially result in an improved outcome in various medical percutaneous procedures. Compared to the conventional straight bevel tip needles, active needles can be bent by means of the attached actuation component in order to reach the target locations more accurately. In this study, the movement of the passive needle inside the tissue was investigated using numerical and experimental approaches. A finite element simulation of needle insertion was developed using LSDYNA software to study the maneuverability of the passive needle. The Arbitrary-Eulerian-Lagrangian (ALE) formulation was used to model the interactions between the solid elements of the needle and the fluid elements of the tissue. Also the passive needle insertion tests were performed inside a tissue mimicking phantom. This model was validated for the 150mm of insertion which is similar to the depth in our needle insertion experiments. The model is intended to be based as a framework for modeling the active needle insertion in future.

Medical Engineering & Physics, 2015

Majority of cancer interventions today are performed percutaneously using needle-based procedures... more Majority of cancer interventions today are performed percutaneously using needle-based procedures, i.e. through the skin and soft tissue. The difficulty in most of these procedures is to attain a precise navigation through tissue reaching target locations. To overcome this challenge, active needles have been proposed recently where actuation forces from shape memory alloys (SMAs) are utilized to assist the maneuverability and accuracy of surgical needles. In the first part of this study, actuation capability of SMA wires was studied. The complex response of SMAs was investigated via a MATLAB implementation of the Brinson model and verified via experimental tests. The isothermal stress-strain curves of SMAs were simulated and defined as a material model in finite element analysis (FEA). The FEA was validated experimentally with developed prototypes. In the second part of this study, the active needle design was optimized using genetic algorithm aiming its maximum flexibility. Design parameters influencing the steerability include the needle's diameter, wire diameter, pre-strain and its offset from the needle. A simplified model was presented to decrease the computation time in iterative analyses. Integration of the SMA characteristics with the automated optimization schemes described in this study led to an improved design of the active needle.

Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation and Control of Adaptive Systems; Integrated System Design and Implementation, 2013

Nitinol has the best shape memory and superelasticity properties of all known polycrystalline sha... more Nitinol has the best shape memory and superelasticity properties of all known polycrystalline shape memory alloys (SMAs) due to diffusionless Martensitic transformation. Due to these unique properties, Nitinol is increasingly used in different fields such as biomedical, structural and aerospace engineering. However, under certain stresses Nitinol exhibits unrecovered strain, or permanent set, that limits the applicability of Nitinol wire. This study showed that there exists a critical range of stress beyond which the permanent set is negligible. The goal of this paper is to determine range of critical stress using two different methods i.e. constant stress experiment and isothermal tensile test and to show variation of this range with changes in wire diameters.

Medical Engineering & Physics, 2014

Active needles are recently being developed to improve steerability and placement accuracy for va... more Active needles are recently being developed to improve steerability and placement accuracy for various medical applications. These active needles can bend during insertion by actuators attached to their bodies. The bending of active needles enables them to be steered away from the critical organs on the way to target and accurately reach target locations previously unachievable with conventional rigid needles. These active needles combined with an asymmetric bevel-tip can further improve their steerability. To optimize the design and to develop accurate path planning and control algorithms, there is a need to develop a tissue-needle interaction model. This work presents an energy-based model that predicts needle deflection of active bevel-tipped needles when inserted into the tissue. This current model was based on an existing energy-based model for bevel-tipped needles, to which work of actuation was included in calculating the system energy. The developed model was validated with needle insertion experiments with a phantom material. The model predicts needle deflection reasonably for higher diameter needles (11.6% error), whereas largest error was observed for the smallest needle diameter (24.7% error).

Journal of Medical Devices, 2015

ABSTRACT Needle insertion is used in many diagnostic and therapeutic percutaneous medical procedu... more ABSTRACT 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 this study, we present the feasibility of using shape memory alloy (SMA) wires as actuators for an active steerable surgical cannula. A three-dimensional (3D) finite element (FE) model of the active steerable cannula was developed to demonstrate the feasibility of using SMA wires as actuators to bend the surgical cannula. The material characteristics of SMAs were simulated by defining multilinear elastic isothermal stress–strain curves that were generated through a matlab code based on the Brinson model. Rigorous experiments with SMA wires were done to determine the material properties as well as to show the capability of the code to predict a stabilized SMA transformation behavior with sufficient accuracy. In the FE simulation, birth and death method was used to achieve the prestrain condition on SMA wire prior to actuation. This numerical simulation was validated with cannula deflection experiments with developed prototypes of the active cannula. Several design parameters affecting the cannula's deflection such as the cannula's Young's modulus, the SMA's prestrain, and its offset from the neutral axis of the cannula were studied using the FE model. Real-time experiments with different prototypes showed that the quickest response and the maximum deflection were achieved by the cannula with two sections of actuation compared to a single section of actuation. The numerical and experimental studies showed that a highly maneuverable active cannulas can be achieved using the actuation of multiple SMA wires in series.

Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation and Control of Adaptive Systems; Integrated System Design and Implementation, 2013

Nitinol has the best shape memory and superelasticity properties of all known polycrystalline sha... more Nitinol has the best shape memory and superelasticity properties of all known polycrystalline shape memory alloys (SMAs) due to diffusionless Martensitic transformation. Due to these unique properties, Nitinol is increasingly used in different fields such as biomedical, structural and aerospace engineering. However, under certain stresses Nitinol exhibits unrecovered strain, or permanent set, that limits the applicability of Nitinol wire. This study showed that there exists a critical range of stress beyond which the permanent set is negligible. The goal of this paper is to determine range of critical stress using two different methods i.e. constant stress experiment and isothermal tensile test and to show variation of this range with changes in wire diameters.

Volume 2: Mechanics and Behavior of Active Materials; Integrated System Design and Implementation; Bio-Inspired Materials and Systems; Energy Harvesting, 2012

Surgical needles, for safe and accurate percutaneaous interventions, need to be navigated accurat... more Surgical needles, for safe and accurate percutaneaous interventions, need to be navigated accurately through the tissue and placed precisely at the targets. A novel active needle, using Nitinol wires as actuators, has been proposed to navigate the needle within the tissue. In this design, when temperature of Nitinol wire was increased by Joule heating, the material undergoes a phase transformation that produces relatively large actuating forces and strains. Using both experimental and numerical simulations, the force-temperature response of the Nitinol wires were characterized. The results indicate that increasing the applied current decreases the response time to reach maximum force, but increases the maximum temperature reached. Therefore, the chosen applied current should be high enough to produce sufficient actuation force and shorter response time, but not too high such that the lower actuator temperatures are maintained to minimize tissue damage.

Active needles are recently being developed to improve steerability and placement accuracy for va... more Active needles are recently being developed to improve steerability and placement accuracy for various medical applications. These active needles can bend during insertion by actuators attached to their bodies. The bending of active needles enables them to be steered away from the critical organs on the way to target and accurately reach target locations previously unachievable with conventional rigid needles. These active needles combined with an asymmetric bevel-tip can further improve their steerability. To optimize the design and to develop accurate path planning and control algorithms, there is a need to develop a tissue-needle interaction model. This work presents an energy-based model that predicts needle deflection of active bevel-tipped needles when inserted into the tissue. This current model was based on an existing energy-based model for bevel-tipped needles, to which work of actuation was included in calculating the system energy. The developed model was validated with needle insertion experiments with a phantom material. The model predicts needle deflection reasonably for higher diameter needles (11.6% error), whereas largest error was observed for the smallest needle diameter (24.7% error).

Medical Engineering & Physics, 2014

This study presents a polyacrylamide gel as a phantom material for needle insertion studies speci... more This study presents a polyacrylamide gel as a phantom material for needle insertion studies specifically developed for self-actuating needles to enhance the precise placement of needles in prostate. Bending of these self-actuating needles within tissue is achieved by Nitinol actuators attached to the needle body; however these actuators usually involve heating that can thermally damage the tissue surrounding the needles. Therefore, to develop and access feasibility of these needles, a polyacrylamide gel has been developed that mimics the thermal damage and mechanical properties of prostate tissue. Mechanical properties of the polyacrylamide gel was controlled by varying the concentrations of acrylamide monomer and N,N-methylene-bisacrylamide (BIS) cross-linker, and thermal sensitivity was achieved by adding bovine serum albumin (BSA) protein. Two polyacrylamide gels with different concentrations were developed to mimic the elastic modulus of the tissue. The two phantoms showed different rupture toughness and different deflection of bevel-tip needle. To study the thermal damage, a Nitinol wire was embedded in the phantom and resistively heated. The measured opaque zone (0.40 mm) formed around the wire was close to the estimated damage zone (0.43 mm) determined using the cumulative equivalent minutes at 43 • C.

2014 40th Annual Northeast Bioengineering Conference (NEBEC), 2014

Flexible needles that can be steered within soft tissues are a promising approach to reach target... more Flexible needles that can be steered within soft tissues are a promising approach to reach target locations that are previously inaccessible and to improve the placement accuracy. Promising designs to increase flexibility include the bevel-tipped needles, kinked needles and the recently proposed flexure-based needles, where they attain a fixed curvature when inserted. We developed a flexible active needle, where needle curvature (or deflection) can be controlled by actuators attached to the needle body. Moreover, to further increase the flexibility a flexure element was used to join the needle tip to the rest of the needle body. A prototype of the flexure active needle was developed and demonstrated both in air and tissue-mimicking phantom.

Volume 2: Mechanics and Behavior of Active Materials; Integrated System Design and Implementation; Bioinspired Smart Materials and Systems; Energy Harvesting, 2014

The continuous implementation of shape memory alloys' (SMAs') actuation capabilities in various a... more The continuous implementation of shape memory alloys' (SMAs') actuation capabilities in various applications from aerospace to biomedical tools has attracted researchers' interests into design optimization of active systems. Traditional methods of optimization have mostly relied on several iterations of altering and testing different possible design of prototypes seeking the best configuration. This trial and error experimentation method is usually expensive and time consuming. In the recent years the availability of computational analysis has facilitated the optimization process by avoiding the developments of many prototypes in the whole design space. In this work an automated design optimization frameworks is presented especially for the systems including active components. Design exploration of a recently proposed medical device was considered as a case study to elaborate this iterative technique. SMA activated needle is an innovative medical tool to be used in needle-based surgeries aiming the enhancement of the needle tip placement inside the tissue. Different configurations have been assessed by altering the design variables in the assigned domain seeking the maximum needle tip deflection to assure the maximum flexibility of the structure where all the analyses were constrained to the stress level of SMAs to be in the safe range preventing plasticity. A commercially available finite element package was used for the iterative assessments in the optimization approach. The challenging part in any analysis of active components is the incorporation of a suitable material model. For this purpose three experimental setups were developed to get the material properties of SMAs through different responses of the wires. These material properties along with the implementation of Brinson model led to the generation of the isothermal stress strain curves which were defined as material model of the active components in the FE analyses. The FE model was then linked to the iterative engine of direct optimization to iterate through the whole domain and determine the best configuration. The Design of Experiments (DOE) and the Multi-Objective Genetic Algorithm (MOGA) were used for the case study optimization. Both the design optimization and the design sensitivity studies were described. The results showed the length of the needle and the offset between the neutral axis of needle and the actuator were the most sensitive variables. The best five configurations with the maximum tip deflection was also presented.

Behavior and Mechanics of Multifunctional Materials and Composites 2015, 2015

Due to its outstanding properties of Nitinol, known as shape memory and superelasticity, Nitinol ... more Due to its outstanding properties of Nitinol, known as shape memory and superelasticity, Nitinol wires have been used as actuators in many medical devices. For the medical applications, it is critical to have a consistent strain response of Nitinol wires. This work focuses on studying the effect of parameters such as biased stress, maximum temperature, and wire diameters that influence the strain response of Nitinol wires. Specifically, Nitinol phase transformations were studied from microstructural point of view. The crystal structures of one-way shape memory Nitinol wires of various diameters under different thermomechanical loading conditions were studied using X-Ray Diffraction (XRD) method. The location and intensity of characteristic peaks were determined prior and after the thermomechanical loading cycles. It was observed that Nitinol wires of diameters less than 0.19 mm exhibit unrecovered strain while heated to the range of 70ºC to 80ºC in a thermal cycle, whereas no unrecovered strains were found in larger wires. The observation was supported by the XRD patterns where the formation of R-phase crystal structure was showed in wire diameters less than 0.19 mm at room temperature.

Volume 2: Mechanics and Behavior of Active Materials; Structural Health Monitoring; Bioinspired Smart Materials and Systems; Energy Harvesting, 2013

In this article we present the feasibility of using the shape memory alloy (SMA) wires, namely Ni... more In this article we present the feasibility of using the shape memory alloy (SMA) wires, namely Nitinol, as an actuator for a steerable surgical cannula. A 3D finite element (FE) model of the actuated steerable cannula was then developed in ANSYS to show deflection of the surgical cannula under the actuation force. The behavior of SMAs was simulated by defining the isothermal stress-strain curves using the multi-elasticity capability of ANSYS. The transformation temperatures of the Nitinol wire at different levels of stress were gathered to form the transformation diagram. Using the one-dimensional Brinson model, the isothermal stress-strain response of the wire was obtained. The thermomechanical characteristics of SMAs were also studied completely by a series of experiments performed on the wires. Birth and death method was used in the solution procedure to have the prestrain condition on Nitinol wire prior to the actuation step. A prototype of the actuated steerable cannula was also developed to validate the numerical simulation. Finally a study was done on design parameters affecting the deflection such as Young's modulus of cannula, SMA diameter and its offset from the neutral axis of the cannula which can be useful in design optimization.

Volume 2: Mechanics and Behavior of Active Materials; Integrated System Design and Implementation; Bioinspired Smart Materials and Systems; Energy Harvesting, 2014

Flexible needles that can be steered within soft tissues are a promising approach to precisely re... more Flexible needles that can be steered within soft tissues are a promising approach to precisely reach target locations, thereby can significantly benefit needle based surgical procedures such as brachytherapy and biopsy. Several design approaches have been suggested to increase needle flexibility that include beveltipped needles, kinked needles and flexure-based needles. These needles when inserted into a soft materials takes a curved path. This curved path can be controlled while inserting by rotating the needle at its base. In this work another approach to control the curved path was explored. Here the needle body was attached with a shape memory alloy (SMA) actuator close the needle tip that when actuated bends the needle and thereby leads to a curved path inside soft tissue. A prototype of the SMA actuated needle was developed and the working principle was demonstrated in air, tissue-mimicking gel, and pig liver. Moreover, the effect of actuator wire diameter on the needle behavior were studied.

ASME 2013 Conference on Frontiers in Medical Devices: Applications of Computer Modeling and Simulation, 2013

In this article we present a finite element simulation of an active steerable surgical needle. Th... more In this article we present a finite element simulation of an active steerable surgical needle. The highly maneuverable actuated needle can be utilized in many cases involving diagnostic and therapeutic percutaneous procedures; for example, in prostate brachytherapy. To make the surgical needle able to navigate through the tissue accurately, avoiding sensitive organs, external bending forces are being provided by smart actuators attached to the needle body (see ). The shape memory alloy (SMA) wires, namely Nitinol, with unique properties of super-elasticity, shape memory effect, and biocompatibility are suitable as an actuator. The attached SMA wires contract when heated due to the phase transformation and therefore bends the needle. A 3D finite element (FE) model of the SMA actuated steerable needle was developed and validated by a prototype to show the feasibility of the design and also to study the factors influencing needle deflection.

Industrial and Commercial Applications of Smart Structures Technologies 2015, 2015

Shape memory alloy (SMA) actuated needle is currently being developed to assist surgeons/physicia... more Shape memory alloy (SMA) actuated needle is currently being developed to assist surgeons/physicians in their percutaneous interventional procedures. The proposed active surgical needle can potentially compensate the possible misplacements of the needle tip in the tissue benefiting from the improved navigation provided by the attached SMA actuators. In this study finite element tools have been utilized in order to maintain an optimum design of the active needle configuration. There are several parameters involved in the design affecting the active needle's applicability and maneuverability; among them are the length, diameter and the maximum residual strain of the SMA wires, the stiffness and diameters of the surgical needle and the offset distance between the needle and the actuator. For analyzing the response of the active needle structure a parametric model was developed in ANSYS. This model was linked to the automated optimization tools for an improved design of the active needle. The most sensitive parameters affecting the active needle's steerability were found to be the offset distance and the length of the needle. Considering the results and the clinical limitations, an improved design of the active needle was presented.

Medical Engineering & Physics, 2015

Majority of cancer interventions today are performed percutaneously using needle-based procedures... more Majority of cancer interventions today are performed percutaneously using needle-based procedures, i.e. through the skin and soft tissue. The difficulty in most of these procedures is to attain a precise navigation through tissue reaching target locations. To overcome this challenge, active needles have been proposed recently where actuation forces from shape memory alloys (SMAs) are utilized to assist the maneuverability and accuracy of surgical needles. In the first part of this study, actuation capability of SMA wires was studied. The complex response of SMAs was investigated via a MATLAB implementation of the Brinson model and verified via experimental tests. The isothermal stress-strain curves of SMAs were simulated and defined as a material model in finite element analysis (FEA). The FEA was validated experimentally with developed prototypes. In the second part of this study, the active needle design was optimized using genetic algorithm aiming its maximum flexibility. Design parameters influencing the steerability include the needle's diameter, wire diameter, pre-strain and its offset from the needle. A simplified model was presented to decrease the computation time in iterative analyses. Integration of the SMA characteristics with the automated optimization schemes described in this study led to an improved design of the active needle.

Active and Passive Smart Structures and Integrated Systems 2015, 2015

Recently, the concept of developing an active steerable needle has gathered a lot of attention as... more Recently, the concept of developing an active steerable needle has gathered a lot of attention as they could potentially result in an improved outcome in various medical percutaneous procedures. Compared to the conventional straight bevel tip needles, active needles can be bent by means of the attached actuation component in order to reach the target locations more accurately. In this study, the movement of the passive needle inside the tissue was investigated using numerical and experimental approaches. A finite element simulation of needle insertion was developed using LSDYNA software to study the maneuverability of the passive needle. The Arbitrary-Eulerian-Lagrangian (ALE) formulation was used to model the interactions between the solid elements of the needle and the fluid elements of the tissue. Also the passive needle insertion tests were performed inside a tissue mimicking phantom. This model was validated for the 150mm of insertion which is similar to the depth in our needle insertion experiments. The model is intended to be based as a framework for modeling the active needle insertion in future.

Journal of Materials Engineering and Performance, 2014

ABSTRACT Unique thermomechanical properties of Nitinol known as shape memory and superelasticity ... more ABSTRACT Unique thermomechanical properties of Nitinol known as shape memory and superelasticity make it applicable for different fields such as biomedical, structural, and aerospace engineering. These unique properties are due to the comparatively large recoverable strain, which is being produced in a martensitic phase transformation. However, under certain ranges of stresses and temperatures, Nitinol wires exhibit unrecovered strain. For cyclic applications, it is important to understand the strain behavior of Nitinol wires. In this study, the unrecovered strain of different Nitinol wire diameters was investigated using constant stress experiment. Uniaxial tensile test has been also performed to find the range of critical stresses. It was observed that the unrecovered strain produced in the first loading-unloading cycle affects the total strain in the subsequent cycles. Moreover, a critical range of stress was found beyond which the unrecovered strain was negligible while the wires heated up to the range of 70-80°C, depending on the wire diameters. The unrecovered strain of wire diameters of 0.19 mm and less was found to be sensitive to the critical stress. On the other hand, for wire diameters bigger than 0.19 mm this connection between the unrecovered strain and the critical stress was not observed for the same range of heating temperature.

Journal of Materials Engineering and Performance, 2015

ABSTRACT Outstanding properties of nitinol, known as shape memory and superelasticity, make them ... more ABSTRACT 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 these applications, it is desired to have a consistent strain response of nitinol wires; therefore, it is necessary to investigate the internal phase transformations from microstructural point of view. In this study, the effect of influencing factors such as biased stress during thermal cycle, the maximum temperature wires experienced during heating part of thermal cycle, and also wire diameters on the amount of unrecovered strain occurred between the first and the second thermal cycles has been investigated. The generation of different phase compositions in the same thermomechanical condition for different wire diameters has been discussed using x-ray diffraction (XRD) method. The location and intensity of characteristic peaks were studied prior and after the loading cycles. It was observed that nitinol wires of diameters less than 0.19 mm exhibit unrecovered strain while heated to the range of 70-80 �C in a thermal cycle, whereas no unrecovered strain was found in wires with larger diameter. The observation was supported by the XRD patterns where the formation of R-phase instead of martensite was shown in wire diameters of less than 0.19 mm after cooling back to room temperature.

Active and Passive Smart Structures and Integrated Systems 2015, 2015

Recently, the concept of developing an active steerable needle has gathered a lot of attention as... more Recently, the concept of developing an active steerable needle has gathered a lot of attention as they could potentially result in an improved outcome in various medical percutaneous procedures. Compared to the conventional straight bevel tip needles, active needles can be bent by means of the attached actuation component in order to reach the target locations more accurately. In this study, the movement of the passive needle inside the tissue was investigated using numerical and experimental approaches. A finite element simulation of needle insertion was developed using LSDYNA software to study the maneuverability of the passive needle. The Arbitrary-Eulerian-Lagrangian (ALE) formulation was used to model the interactions between the solid elements of the needle and the fluid elements of the tissue. Also the passive needle insertion tests were performed inside a tissue mimicking phantom. This model was validated for the 150mm of insertion which is similar to the depth in our needle insertion experiments. The model is intended to be based as a framework for modeling the active needle insertion in future.

Medical Engineering & Physics, 2015

Majority of cancer interventions today are performed percutaneously using needle-based procedures... more Majority of cancer interventions today are performed percutaneously using needle-based procedures, i.e. through the skin and soft tissue. The difficulty in most of these procedures is to attain a precise navigation through tissue reaching target locations. To overcome this challenge, active needles have been proposed recently where actuation forces from shape memory alloys (SMAs) are utilized to assist the maneuverability and accuracy of surgical needles. In the first part of this study, actuation capability of SMA wires was studied. The complex response of SMAs was investigated via a MATLAB implementation of the Brinson model and verified via experimental tests. The isothermal stress-strain curves of SMAs were simulated and defined as a material model in finite element analysis (FEA). The FEA was validated experimentally with developed prototypes. In the second part of this study, the active needle design was optimized using genetic algorithm aiming its maximum flexibility. Design parameters influencing the steerability include the needle's diameter, wire diameter, pre-strain and its offset from the needle. A simplified model was presented to decrease the computation time in iterative analyses. Integration of the SMA characteristics with the automated optimization schemes described in this study led to an improved design of the active needle.

Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation and Control of Adaptive Systems; Integrated System Design and Implementation, 2013

Nitinol has the best shape memory and superelasticity properties of all known polycrystalline sha... more Nitinol has the best shape memory and superelasticity properties of all known polycrystalline shape memory alloys (SMAs) due to diffusionless Martensitic transformation. Due to these unique properties, Nitinol is increasingly used in different fields such as biomedical, structural and aerospace engineering. However, under certain stresses Nitinol exhibits unrecovered strain, or permanent set, that limits the applicability of Nitinol wire. This study showed that there exists a critical range of stress beyond which the permanent set is negligible. The goal of this paper is to determine range of critical stress using two different methods i.e. constant stress experiment and isothermal tensile test and to show variation of this range with changes in wire diameters.

Medical Engineering & Physics, 2014

Active needles are recently being developed to improve steerability and placement accuracy for va... more Active needles are recently being developed to improve steerability and placement accuracy for various medical applications. These active needles can bend during insertion by actuators attached to their bodies. The bending of active needles enables them to be steered away from the critical organs on the way to target and accurately reach target locations previously unachievable with conventional rigid needles. These active needles combined with an asymmetric bevel-tip can further improve their steerability. To optimize the design and to develop accurate path planning and control algorithms, there is a need to develop a tissue-needle interaction model. This work presents an energy-based model that predicts needle deflection of active bevel-tipped needles when inserted into the tissue. This current model was based on an existing energy-based model for bevel-tipped needles, to which work of actuation was included in calculating the system energy. The developed model was validated with needle insertion experiments with a phantom material. The model predicts needle deflection reasonably for higher diameter needles (11.6% error), whereas largest error was observed for the smallest needle diameter (24.7% error).