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| Main Authors: | , , , , , , , , , , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2601.13529 |
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| _version_ | 1866916014963294208 |
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| author | Kheradmand, Pejman Yamamoto, Kent K. Webster, Emma Sowards, Keith Hatheway, Gianna Jackson, Katharine L. Zani Jr., Sabino Raffi, Julie A. Ayala-Peacock, Diandra N. Silva, Scott R. Bertram, Joanna Deaton Chitalia, Yash |
| author_facet | Kheradmand, Pejman Yamamoto, Kent K. Webster, Emma Sowards, Keith Hatheway, Gianna Jackson, Katharine L. Zani Jr., Sabino Raffi, Julie A. Ayala-Peacock, Diandra N. Silva, Scott R. Bertram, Joanna Deaton Chitalia, Yash |
| contents | Cervical cancer accounts for a significant portion of the global cancer burden among women. Interstitial brachytherapy (ISBT) is a standard procedure for treating cervical cancer; it involves placing a radioactive source through a straight hollow needle within or in close proximity to the tumor and surrounding tissue. However, the use of straight needles limits surgical planning to a linear needle path. We present the OncoReach stylet, a handheld, tendon-driven steerable stylet designed for compatibility with standard ISBT 15- and 13-gauge needles. Building upon our prior work, we evaluated design parameters like needle gauge, spherical joint count and spherical joint placement, including an asymmetric disk design to identify a configuration that maximizes bending compliance while retaining axial stiffness. Free space experiments quantified tip deflection across configurations, and a two-tube Cosserat rod model accurately predicted the centerline shape of the needle for most trials. The best performing configuration was integrated into a reusable handheld prototype that enables manual actuation. A patient-derived, multi-composite phantom model of the uterus and pelvis was developed to conduct a pilot study of the OncoReach steerable stylet with one expert user. Results showed the ability to steer from less-invasive, medial entry points to reach the lateral-most targets, underscoring the significance of steerable stylets. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2601_13529 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | The OncoReach Stylet for Brachytherapy: Design Evaluation and Pilot Study Kheradmand, Pejman Yamamoto, Kent K. Webster, Emma Sowards, Keith Hatheway, Gianna Jackson, Katharine L. Zani Jr., Sabino Raffi, Julie A. Ayala-Peacock, Diandra N. Silva, Scott R. Bertram, Joanna Deaton Chitalia, Yash Robotics Cervical cancer accounts for a significant portion of the global cancer burden among women. Interstitial brachytherapy (ISBT) is a standard procedure for treating cervical cancer; it involves placing a radioactive source through a straight hollow needle within or in close proximity to the tumor and surrounding tissue. However, the use of straight needles limits surgical planning to a linear needle path. We present the OncoReach stylet, a handheld, tendon-driven steerable stylet designed for compatibility with standard ISBT 15- and 13-gauge needles. Building upon our prior work, we evaluated design parameters like needle gauge, spherical joint count and spherical joint placement, including an asymmetric disk design to identify a configuration that maximizes bending compliance while retaining axial stiffness. Free space experiments quantified tip deflection across configurations, and a two-tube Cosserat rod model accurately predicted the centerline shape of the needle for most trials. The best performing configuration was integrated into a reusable handheld prototype that enables manual actuation. A patient-derived, multi-composite phantom model of the uterus and pelvis was developed to conduct a pilot study of the OncoReach steerable stylet with one expert user. Results showed the ability to steer from less-invasive, medial entry points to reach the lateral-most targets, underscoring the significance of steerable stylets. |
| title | The OncoReach Stylet for Brachytherapy: Design Evaluation and Pilot Study |
| topic | Robotics |
| url | https://arxiv.org/abs/2601.13529 |