{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,23]],"date-time":"2026-01-23T09:07:00Z","timestamp":1769159220593,"version":"3.49.0"},"reference-count":34,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2019,5,28]],"date-time":"2019-05-28T00:00:00Z","timestamp":1559001600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2020,3]]},"abstract":"<jats:title>Summary<\/jats:title><jats:p>Many medical procedures such as brachytherapy, thermal ablations, and biopsies are performed using needle-based procedures. In this work, 3D manipulation of an active needle realized by multiple Shape Memory Alloy (SMA) actuators was first predicted by Finite Element Analyses (FEA), and then demonstrated by a fabricate prototype. The FEA results were validated by planar deflection of an active needle. A similar FEA was developed to predict 3D manipulation of the active needle. For 17-gage needle, a maximum of 26\u00b0 reversible deflection was achieved in 3D space via actuation forces of a 0.127 mm SMA wire. A scaled prototype was also developed and tested to show the feasibility of developing a 3D steering active needle with multiple actuators.<\/jats:p>","DOI":"10.1017\/s0263574719000705","type":"journal-article","created":{"date-parts":[[2019,5,28]],"date-time":"2019-05-28T07:54:35Z","timestamp":1559030075000},"page":"410-426","source":"Crossref","is-referenced-by-count":17,"title":["3D Manipulation of an Active Steerable Needle via Actuation of Multiple SMA Wires"],"prefix":"10.1017","volume":"38","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9700-8751","authenticated-orcid":false,"given":"Bardia","family":"Konh","sequence":"first","affiliation":[]},{"given":"Dayne","family":"Sasaki","sequence":"additional","affiliation":[]},{"given":"Tarun K.","family":"Podder","sequence":"additional","affiliation":[]},{"given":"Hashem","family":"Ashrafiuon","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2019,5,28]]},"reference":[{"key":"S0263574719000705_ref16","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912442429"},{"key":"S0263574719000705_ref15","doi-asserted-by":"publisher","DOI":"10.1118\/1.3694110"},{"key":"S0263574719000705_ref9","first-page":"258","article-title":"A model to predict deflection of bevel-tipped active needle advancing in soft tissue,","volume":"36","author":"Datla","year":"2013","journal-title":"Med. 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Hyperth."},{"key":"S0263574719000705_ref19","first-page":"101640G","volume-title":"SPIE 10164, Active and Passive Smart Structures and Integrated Systems","author":"Konh","year":"2017"},{"key":"S0263574719000705_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2009.2029240"},{"key":"S0263574719000705_ref1","doi-asserted-by":"publisher","DOI":"10.1136\/jcp.2006.036996"},{"key":"S0263574719000705_ref28","volume-title":"WO2018183832A1","author":"Konh","year":"2018"},{"key":"S0263574719000705_ref17","first-page":"90580J","article-title":"Characterization of optically actuated MRI-compatible active needles for medical interventions,","volume":"9058","author":"Black","year":"2014","journal-title":"SPIE Smart Struct. Mater. + Nondestruct. Eval. Heal. Monit."},{"key":"S0263574719000705_ref23","doi-asserted-by":"publisher","DOI":"10.1007\/s11665-014-1077-6"},{"key":"S0263574719000705_ref11","unstructured":"11. R. J. Roesthuis , M. Abayazid and S. Misra , \u201cMechanics-Based Model for Predicting In-Plane Needle Deflection with Multiple Bends,\u201d 2012 4th IEEE RAS EMBS International Conference on Biomed. Robot. Biomechatronics (2012) pp. 69\u201374."},{"key":"S0263574719000705_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2014.2326161"},{"key":"S0263574719000705_ref26","first-page":"229","volume-title":"J. Intell. Mater. Syst. 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