Multi-objective Design Optimization for a Steerable Needle for Soft Tissue Surgery

摘要: A novel steerable probe is being developed to access deep seated targets within soft tissue, with the aim of improving accuracy minimally invasive percutaneous needle insertions. Consisting multiple axially interlocked segments that independently slide along each other, miniaturization design required in order for be used surgery. Within this study, a set parameters which minimizes risk both buckling and separation identified optimization procedure based on finite element models geometry. Four significant variables are defined genetic multi-objective algorithm. Loads interactions between four parts due curved paths taken inside tissue modeled using generalized plane strain elements. The optimized non-dominated solutions analyzed. By applying decision- making process value path method, nondominated compared across objectives. It found smaller less pronounced interlock features reduce contact forces improve sliding performance segments. This results trade-off relationship strength most feasible showing best all objectives selected. outcome new needle, will manufactured tested suitable controller vitro ex vivo.