Experimental study of the optimum puncture pattern of robot-assisted needle insertion into hyperelastic materials

Abstract

The robot-assisted insertion surgery plays a crucial role in biopsy and therapy. This study focuses on determining the optimum puncture pattern for robot-assisted insertion, aiming at the matching problem of needle insertion parameters, thereby to reduce the pain for patients and to improve the reachability to the lesion point. First, a 6-degrees of freedom (DOFs) Computed Tomography (CT)-guided surgical robotic system for minimally invasive percutaneous lung is developed and used to perform puncture experiments. The effects of four main insertion factors on the robotic puncture are verified by designing the orthogonal test, where the inserting object is the artificial skin-like specimen with high transparent property and a digital image processing method is used to analyze the needle tip deflection. Next, the various phases of puncture process are divided and analyzed in detail in view of the tissue deformation and puncture force. Then, short discussion on the comparison of puncture force with different effect factors for the same beveled needle is presented. The same pattern can be observed for all of the cases. Finally, based on the experimental data, the formulations of the puncture force and needle deflection which depends on Gauge size, insertion velocity, insertion angle, and insertion depth are developed using the multiple regression method, which can be used to get an optimum puncture pattern under the constrains of minimum peak force and minimum needle tip deflection. The developed models have the effectiveness and applicability on determining the optimum puncture pattern for one puncture event, and which can also provide insights useful for the setting of insertion parameters in clinical practice.

Experimental study of mosquito-inspired needle to minimize insertion force and tissue deformation

“…13 The stiffness and cutting forces will be unaffected by the vibration, therefore only the friction force is influenced by the bioinspired needle design and the vibration. 7,42,[44][45][46][47][48] For example, Wu et al 48 have observed that vibration can decrease the friction force, but it does not influence the effect of tissue stiffness on the needle body. Our results show that this is true up to 200 Hz frequency but at higher frequencies and above 30 mm insertion depth, it shows a reverse trend.…”

A review of the bio-tribology of medical devices

“…Rotational movement can reduce tissue displacement and friction before puncture. Since biological tissues are generally non-uniform and anisotropic, their mechanical properties depend on position and direction respectively [158,159]. Therefore, the position and direction of the insertion are particularly important.…”