Characterization of robotic needle insertion and rotation in artificial and ex vivo tissues

Abstract

Accurate needle insertion to reach targets in deformable tissue relies on an understanding of tissue and needle-tissue interaction mechanics. Toward the development of clinically relevant robotic needle insertion, this work addresses (1) the differences and similarities between needle insertion into artificial and ex vivo tissues, and (2) the use of needle rotation data to develop needle-tissue interaction models that can be used to predict the mechanics of needle insertion. Due to challenges associated with working with living tissue, artificial and ex vivo tissues are often employed when modeling and testing robotic needle insertion. Force and motion data recorded during robotic needle insertion into three artificial tissues (PVC rubber, porcine gelatin, and Gelzan) and three ex vivo tissues (chicken breast, calf liver, and pig liver) demonstrated that the mechanics of needle insertion into artificial tissues are distinct from those of ex vivo tissues, due to differences in friction, stiffness, and relaxation properties. Data from needle rotation was used to fit a friction model that describes needle insertion; this approach could enable acquisition of needle-tissue interaction models for planning and control as a minimally invasive first step in a robot-assisted needle insertion procedure.

Tissue fixation by suction increases the accuracy of robotic needle insertion

“…The Characterization experiments used the same methodology and analysis techniques as [17]. Indentation experiments were conducted to characterize tissue stiffness, needle insertion experiments were conducted to characterize insertion forces, and needle motion experiments were used to characterize needle and tissue friction.…”

“…PVC plastisol rubber (MF Manufacturing Co., Fort Worth, Texas, USA) has been used in many prior studies to simulate biological tissue [17], and, by changing the ratio of softener to plastic when forming the tissue, it can simulate both firm and soft tissues. The PVC formulation used in [17] (1:4 ratio of softener to plastic) was not representative of soft ex vivo tissue, so new formulations (2:1 and 1:1 ratio of softener to plastic) were used in this study. In the Characterization experiments, these tissues were characterized to select formulations that represent soft tissues for needle insertion experiments.…”

“…Relatively soft small targets were used to minimize the influence that a firm target might have on the deformation behavior of the surrounding tissue. Regardless, prior studies have found that target stiffness does The chicken breast friction data is reproduced from [17]. not significantly influence tissue deformation behavior [7].…”

“…As in [17], during the Characterization experiments, the tissue was supported by two parallel plastic plates. During the Targeting Accuracy experiments, the tissue was either fully supported from behind by an aluminum member or partially supported by a 12 mm high plastic member.…”

Methods of control for minimizing extra-fine needle deflection with a combination of vibration and rotation in the lower abdomen

“…As the previous method to minimize needle tip deflection and tissue deformation, the insertion with vibration along the insertion direction and rotation around the insertion axis were proposed, respectively (Bi & Lin, 2008;Khalaji, Hadavand, Asadian, Patel, & Naish, 2013;Podder et al, 2005;Wedlick & Okamura, 2012). However, there are no researches focusing on the analysis assuming the lower abdominal insertion although the prostate and liver insertion were well studied (Majewicz et al, 2012).…”