Measurement of the Tip and Friction Force Acting on a Needle during Penetration

Kataoka, Hiroyuki; Washio, Toshikatsu; Chinzei, Kiyoyuki; Mizuhara, Kazuyuki; Simone, Christina; Okamura, Allison M.

doi:10.1007/3-540-45786-0_27

Cited by 110 publications

(103 citation statements)

References 4 publications

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“…Based on an early study with our collaborators [10], the authors developed a set of coaxial load cells that can attach a coaxial needle where a sheath covers an internal needle so that only the blade part of the latter interfaces to the tissue (Fig. 1).…”

Section: Structure Of the Sensor And The Needlementioning

confidence: 99%

Needle Force Sensor, Robust and Sensitive Detection of the Instant of Needle Puncture

Washio¹,

Chinzei²

2004

Medical Image Computing and Computer-Assisted Intervention – MICCAI 2004

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Abstract.A force sensor based method to detect the instant of needle puncture to the layers of tissues is proposed. A set of needle and sheath attached to a pair of coaxial force sensors was used to separately measure the cutting force at the needle tip and the sidewall friction. Change of the force profile was observed and marked at the instant of the puncture, and robustly eliminated artifacts caused by body motion such as the respiratory or cardiac motion. The agreement between the subjective feeling of a skilled surgeon and the sensor was good. In several cases the sensor detected the puncture even when the surgeon could not clearly identify it. It was suggested that the sensor is potentially more sensitive than skilled professionals.

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Section: Structure Of the Sensor And The Needlementioning

confidence: 99%

Needle Force Sensor, Robust and Sensitive Detection of the Instant of Needle Puncture

Washio¹,

Chinzei²

2004

Medical Image Computing and Computer-Assisted Intervention – MICCAI 2004

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“…The real-world response of tissues to stress depends on hydration, disease, age and pathology; exact simulation in the face of such variability is currently impossible, although improvements can be obtained using empirical data from studies of tissues and medical instruments in the laboratory and in vivo [14][15][16][17][18].…”

Section: Commentary: Using Simulation For Interventional Radiology Trmentioning

confidence: 99%

Using simulation for interventional radiology training

Gould

2010

BJR

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ABSTRACT. Debate on the existence of innate skills has all but evaporated in the light of evidence that it is only the hours spent in deliberate practice that correlate with even the most elite levels of expertise. A range of simple to advanced technologies stands to address some of the many challenges to effective training of 21st century, procedural medicine. Simulation could train and assess behaviours remotely from patients, in complete safety, reducing the risks of inexperienced trainees learning critical tasks in patients while contributing to certification and revalidation. Understanding the strengths and limitations of these devices, determining and improving their effectiveness and identifying their roles, as well as those of individuals and teams, represents a cornerstone of successful adoption into the interventional radiology curriculum. This requires a simulation strategy that includes standards for simulator documentation.

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“…Physical measurements of forces exerted during needle insertion were measured by Kataoka et al, who separately measured tip and frictional forces during needle insertion into a canine prostate [12]. Planning optimal insertion location and insertion distance to compensate for tissue deformations has been addressed for 2D rigid needles [2].…”

Section: Introductionmentioning

confidence: 99%

Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft Tissue with Obstacles

Alterovitz

Goldberg

Okamura

Proceedings of the 2005 IEEE International Conference on Robotics and Automation

202

163

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Abstract-Medical procedures such as seed implantation, biopsies, and treatment injections require inserting a needle to a specific target location inside the human body. Flexible needles with bevel tips are known to bend when inserted into soft tissues and can be inserted to targets unreachable by rigid symmetric-tip needles. Planning for such procedures is difficult because needle insertion causes soft tissues to displace and deform. In this paper, we develop a 2D planning algorithm for insertion of highly flexible bevel-tip needles into tissues with obstacles. Given an initial needle insertion plan specifying location, orientation, bevel rotation, and insertion distance, the planner combines soft tissue modeling and numerical optimization to generate a needle insertion plan that compensates for simulated tissue deformations, locally avoids polygonal obstacles, and minimizes needle insertion distance. Soft tissue deformations are simulated using a finite element formulation that models the effects of needle tip and frictional forces using a 2D mesh. The planning problem is formulated as a constrained nonlinear optimization problem which is locally minimized using a penalty method that converts the formulation to a sequence of unconstrained optimization problems. We apply the planner to bevel-right and bevel-left needles and generate plans for targets that are unreachable by rigid needles.

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Measurement of the Tip and Friction Force Acting on a Needle during Penetration

Cited by 110 publications

References 4 publications

Needle Force Sensor, Robust and Sensitive Detection of the Instant of Needle Puncture

Needle Force Sensor, Robust and Sensitive Detection of the Instant of Needle Puncture

Using simulation for interventional radiology training

Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft Tissue with Obstacles

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