University of Twente Student Theses


Development of multiple needle holder for irreversible electroporation treatment

Sridharan, H. (2021) Development of multiple needle holder for irreversible electroporation treatment.

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Abstract:Irreversible Electroporation treatment (IRE) has been evolving as an alternative technique for thermal treatments such as radiofrequency ablation, microwave ablation, cryoablation, etc. This technique is used for ablating tumors in liver, lungs, pancreas, and kidney in human beings. To achieve a successful ablation, the treatment is carried out by inserting needles in perfect parallel arrangement, at a pre-defined distance that varies between 1 and 2.5 cm around the tumor mass. The needles will be inserted manually by surgeons with the help of Magnetic Resonance Imaging. As mentioned earlier, accurate needle placement around the tumor is essential to destroy it completely, which means that a manual placement operation can be problematic. When more than two needles are used, several attempts may be required for surgeons to properly place the needles around the tumor in parallel position, at a pre-defined distance. This leads to a decrease in the success rate of the ablation, which ultimately results in an increase of the total treatment duration. This thesis is focused on developing a needle holder model for the preliminary robot prototype which was developed for IRE by the department of Robotics and Mechatronics, University of Twente, Netherlands. This prototype is limited to a single needle insertion technique where it can accommodate only 19 gauge needles. The main objective of this project is to introduce a multiple needle holder for the existing robot prototype and to analyse its experimental characterizations. Design requirements that are needed for developing the needle holder were analysed from the literature. A compact, lighter needle holder was designed, and it has the capability to hold seven needles at the same time. The needles can be maintained in parallel state and it has the capability to accommodate different needle gauges (ranging from 16 to 19 gauge) with the use of a collet clamping mechanism. An R-25 pneumatic motor was previously implemented together with a worm gear mechanism to control the distance between the needles. FEA was carried out to show that the developed needle holder parts are safe to operate under maximum force and torque of 15 N and 10 N¢m, respectively. To verify the accuracy of the needle holder, position and orientation tests were carried out which resulted in high accuracy. Force tolerance of the needle holder was tested through a load cell. The model can handle up to 30 N of force, which is way higher than expected. Finally, the MRI compatibility of the model was evaluated by performing image quality tests under a MR scanner. As expected, the model was fully MRI-compatible as it showed at most 10% of SNR loss. All these achievements were proved by experimental results. A design approach for integration into the existing preliminary robot prototype was provided. However, before integration, the model can be fabricated using PETG rather than using PLA because of its material properties.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:50 technical science in general
Programme:Electrical Engineering MSc (60353)
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