In Vivo Study of Forces During Needle Insertions

Abstract

Percutaneous procedures are among the developing minimally invasive techniques to treat cancerous diseases of the digestive system. They require a very accurate targeting of the organs, achieved by the combination of tactile sensing and medical imaging. In this paper, we study the forces involved during in vivo percutaneous procedures for the development of a force feedback needle insertion robotic system as well as the development of a realistic simulation device. The paper presents different conditions (manual and robotic insertions) and different organs (liver and kidney). Finally, we review some bio-mechanical models of the literature in the light of our measurements.

Influence of Array Interspacing on the Force Required for Successful Microneedle Skin Penetration: Theoretical and Practical Approaches

“…In other studies (Marvarsh and Hayward, 2001;Maurin et al, 2004), needle insertion was separated into 3 phases based on results obtained from experiments performed on bovine liver tissue. These forces include deformation (without penetration), steady state penetration, relaxation and extraction.…”

Interventional radiology virtual simulator for liver biopsy

“…Various models of needle insertion can be found in the literature [5]. We have chosen an analytical model [11] based on a succession of exponential-like rises before and after liver capsule penetration, and proportional to needle insertion depth, was fitted to the experimental data, and used to render force feedback during needle insertion within the simulator. This model is the base of our haptic rendering for the puncture of the liver.…”

Virtual Reality Simulation of Liver Biopsy with a Respiratory Component

“…In one example, complex mechanical models are used to simulate needle insertion and soft-tissue behavior in the setting of pre-procedural training and planning (Chentanez et al, 2009). Experimental data has also been used by others to model the force evolution during needle manipulation (Maurin et al, 2004). The requirement for a liver biopsy simulator to incorporate respiratory motion does, however, limit us to a relatively simplistic needle model.…”

“…Thereafter, continued needle insertion deeper into the liver is subjected to increasing resistance. In this project we have simulated this behavior by adding a needle axial force whose value is extracted from (Maurin et al, 2004). Experimental data were acquired with a force sensor during IR procedures (Karuppasamy et al, 2008) and fitted to a mathematical model.…”