Experimental Study of the Robotically Controlled Surgical Needle Insertion for Analysis of the Minimum Invasive Process

Barua, Ranjit; Das, Surajit; Datta, Sudipto; Chowdhury, Amit Roy; Datta, Pallab

doi:10.1007/978-981-16-8774-7_38

Cited by 13 publications

(6 citation statements)

References 17 publications

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“…The radius and depth of the gel were measured each 1 s. The comparative standard deviations for the needled insertion force (F n ), the radius (r n ), and depth (d n ) during insertion were less than 7%, 11%, and 15% correspondingly. Therefore, the volume of tissue deformation V T could be estimated using equation (5).…”

Section: Resultsmentioning

confidence: 99%

“…It is noticed due to the different types of needle tip geometrical structure and the different material properties of soft tissue, needle deflection occurs. 5,6 The sum of needle deflection during the different depths of needle insertion was investigated by Li et al, 7 and they described a technique to estimate and accurately the needle deflection. Okamura et al 8 have illustrated the correlation between needle geometry and needle deflection.…”

Section: Introductionmentioning

confidence: 99%

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Study and experimental investigation of insertion force modeling and tissue deformation phenomenon during surgical needle-soft tissue interaction

Barua

Das

Datta

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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Surgical needle insertion is generally used in the current advanced surgery process, particularly in the area of biopsy, MIS or minimally invasive surgery, brachytherapy, etc. During the needle insertion performance into the soft tissue, one of the most important issues is the tissue deformation that affects the needle engagement inside the tissue material. We have presented an energy-based insertion model, and the conical shape of deformed tissue is assumed. The tests are performed on PVA gel samples, and the model is analyzed to determine the tissue deformation volume during needle insertion into soft tissue. The procedures for evaluating the puncture force which creates the deformation of the contact point. With the help of the needle insertion experimental investigation, a geometric model of tissue deformation phenomenon and insertion force was investigated. The active needle-soft tissue contacts are studied, and with the help of the energy-based insertion model, the different factors like strain energy, potential, and dissipated energies are investigated. The tests are completed on the tissue mimic PVA gel samples, and the results show the volume and area of tissue deformation; at the time of initial needle insertion, the maximum tissue deformation arises and during the needle movement in the post-perforation stage, the deformation gradually decreases as the more peripheral work is altered into the vicious and degenerate energies. The maximum insertion force was noticed in 14° bevel angle needle tip and at 3 mm/s needle insertion speed, the volume of tissue deformation was maximum. The maximum deformation of the issue arises at the initial perforate position, and the distortion reduces along with the raises of the needle movement during the post-insertion period as the needle insertion work is converted into vicious and dissolute energies.

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Study and experimental investigation of insertion force modeling and tissue deformation phenomenon during surgical needle-soft tissue interaction

Barua

Das

Datta

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…The forces starting from this interface are influenced by several problems, like the type of the needle, insertion velocity, and material properties tissue, etc. [1][2][3][4] Though, it is not clear precisely how these issues influence the insertion force. That's why; the impact of different issues on surgical needle cutting force was studied by considering several pieces of literature for tentative information.…”

Section: Motivation Of the Workmentioning

confidence: 99%

“…Mainly used common force algorithms are proportion integration differentiation (PID), proportion differentiation (PD), proportion integration (PI), and proportion (P). 3,60,66 At the time of robot-assisted MIS for the surgeons, Lee et al 67 gave control of force feedback which is connected to the electrorheological (ER) haptic master's dynamic model. In their work Kalmer filter was provided by them to keep the force feedback signal stable.…”

Section: Robot-assisted Insertion Of Needle Force Control Systemmentioning

confidence: 99%

Study of the surgical needle and biological soft tissue interaction phenomenon during insertion process for medical application: A Survey

Barua

Datta

Roychowdhury

et al. 2022

Proc Inst Mech Eng H

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The insertion of the surgical needle in soft tissue has involved significant interest in the current time because of its purpose in minimally invasive surgery (MIS) and percutaneous events like biopsies, PCNL, and brachytherapy. This study represents a review of the existing condition of investigation on insertion of a surgical needle in biological living soft tissue material. As observes the issue from numerous phases, like, analysis of the cutting forces modeling (insertion), tissue material deformation, analysis of the needle deflection for the period of the needle insertion, and the robot-controlled insertion procedures. All analysis confirms that the total needle insertion force is the total of dissimilar forces spread sideways the shaft of the insertion needle for example cutting force, stiffness force, and frictional force. Various investigations have analyzed all these kinds of forces during the needle insertion process. The force data in several measures are applied for recognizing the biological tissue materials as the needle is penetrated or for path planning. The deflection of the needle during insertion and tissue material deformation is the main trouble for defined needle placing and efforts have been prepared to model them. Applying existing models numerous insertion methods are established that are discussed in this review.

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“…[1][2][3] As per the application of medical requirements, the needles are available in various geometric forms, like conical tip, bevel-tip, trocar, back-bevel tip, and lancet tip, etc. 4,5 The MIS method is involved in the collection of a tissue sample for the biopsy process, 6 or to diagnose the gall stone, kidney stone, 7,8 etc. Throughout this practice, the precision of needle assignment is the most significant, though the needle tip placement error in brachytherapy or biopsy of an unplanned living tissue area may decrease the efficiency and decisiveness of the treatment and diagnosis, correspondingly.…”

Section: Introductionmentioning

confidence: 99%

Simulation and experimental investigation of the surgical needle deflection model during the rotational and steady insertion process

et al. 2022

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Needle insertion is executed in numerous medical and brachytherapy events. Exact needle insertion into inhomogeneous soft biological tissue is of useful importance due to its significance in clinical diagnosis (especially percutaneous) and treatments. The surgical needles used in such processes can deflect during the percutaneous process. Needle deflecting which affects needle — soft tissue interface and needle controllability have a crucial role in establishment precision. In this paper, we have analyzed a mechanics-based model both rotational and non-rotational needle insertion, and studied the deflection phenomenon in both insertion cases, we validated it with a real-time nonlinear Dassault Systèmes® ABAQUS simulation model. For definite contact force, the maximum the contact stiffness was, the minimum it inserted, the cohesive surface model was used to investigate the needle insertion analysis, where the fracture point was defined by a failure strain and with the help of the in, the fully failed components would be removed. Using living tissue comparable PVA gel materials, the needle insertion force model is developed from insertion experimentations with the help of two different processes (rotational and non-rotational needle insertion). In a rotational needle, deflection is less than in a non-rotational needle. The preliminary insertion was observed in the rotational needle at 1.261 mm (experiment), and 1.538 mm (simulation), and for non-rotational needle insertion, the initial insertion was noticed at 1.756 mm (experiment) and 1.982 mm (simulation). The main aim of this study is to navigate the surgical needle in an accurate way to reduce the erroneousness for a clinical diagnosis like anesthesia, brachytherapy, biopsy, and modern microsurgery operation.

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Experimental Study of the Robotically Controlled Surgical Needle Insertion for Analysis of the Minimum Invasive Process

Cited by 13 publications

References 17 publications

Study and experimental investigation of insertion force modeling and tissue deformation phenomenon during surgical needle-soft tissue interaction

Study and experimental investigation of insertion force modeling and tissue deformation phenomenon during surgical needle-soft tissue interaction

Study of the surgical needle and biological soft tissue interaction phenomenon during insertion process for medical application: A Survey

Simulation and experimental investigation of the surgical needle deflection model during the rotational and steady insertion process

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