Tissue Deformation and Insertion Force of Bee-Stinger Inspired Surgical Needles

2018 ◽  
Vol 12 (3) ◽  
Author(s):  
Mohammad Sahlabadi ◽  
Parsaoran Hutapea
Keyword(s):  
Three Dimensional ◽  
Needle Insertion ◽  
The Body ◽  
Image Correlation ◽  
Tissue Deformation ◽  
Insertion Force ◽  
Needle Path ◽  
Percutaneous Procedures ◽  
Target Locations ◽  
Path Deviation

Surgical needles are commonly used to reach target locations inside of the body for percutaneous procedures. The major issues in needle steering in tissues are the insertion force which causes tissue damage and tissue deformation that causes the needle path deviation (i.e., tip deflection) resulting in the needle missing the intended target. In this study, honeybee-inspired needle prototypes were proposed and studied to decrease the insertion force and to reduce the tissue deformation. Three-dimensional (3D) printing technology was used to manufacture scaled-up needle prototypes. Needle insertion tests on tissue-mimicking polyvinyl chloride (PVC) gel were performed to measure the insertion force and the tip deflection. Digital image correlation (DIC) study was conducted to determine the tissue deformation during the insertion. It was demonstrated that the bioinspired needles can be utilized to decrease the insertion force by 24% and to minimize the tip deflection. It was also observed that the bioinspired needles decrease the tissue deformation by 17%. From this study, it can be concluded that the proposed bee-inspired needle design can be used to develop and manufacture innovative surgical needles for more effective and less invasive percutaneous procedures.

scholarly journals A new methodology to identify minimum strain anatomical lines based on 3-D digital image correlation

2017 ◽  
Vol 8 (2) ◽  
pp. 337-347 ◽  
Author(s):  
Jorge Barrios-Muriel ◽  
Francisco Javier Alonso Sánchez ◽  
David Rodríguez Salgado ◽  
Francisco Romero-Sánchez
Keyword(s):  
Digital Image Correlation ◽  
Digital Image ◽  
Strain Field ◽  
Three Dimensional ◽  
Wearable Devices ◽  
Plane Motion ◽  
Human Motion ◽  
The Body ◽  
Image Correlation ◽  
Minimum Deformation

Abstract. Today there is continuous development of wearable devices in various fields such as sportswear, orthotics and personal gadgets, among others. The design of these devices involves the human body as a support environment. Based on this premise, the development of wearable devices requires an improved understanding of the skin strain field of the body segment during human motion. This paper presents a methodology based on a three dimensional digital image correlation (3D-DIC) system to measure the skin strain field and to estimate anatomical lines with minimum deformation as design criteria for the aforementioned wearable devices. The errors of displacement and strain measurement related to 3-D reconstruction and out-of-plane motion are investigated and the results are acceptable in the case of large deformation. This approach can be an effective tool to improve the design of wearable devices in the clinical orthopaedics and ergonomics fields, where comfort plays a key role in supporting the rehabilitation process.

scholarly journals Experimental study on needle insertion force to minimize tissue deformation in tongue tissue.

2021 ◽  
Author(s):  
Y. Aaboubout ◽  
M.R. Nunes Soares ◽  
E.M. Barroso ◽  
L.C. van der Sar ◽  
A. Bocharnikov ◽  
...  
Keyword(s):  
Experimental Study ◽  
Needle Insertion ◽  
Tissue Deformation ◽  
Insertion Force ◽  
Needle Insertion Force

Design and Experimental Evaluation of Mosquito-Inspired Needle Structure in Soft Materials

2020 ◽  
Author(s):  
Sai Teja Reddy Gidde ◽  
Parsaoran Hutapea
Keyword(s):  
Soft Materials ◽  
Force Sensor ◽  
Needle Insertion ◽  
Insertion Force ◽  
Tissue Phantom ◽  
Tissue Interactions ◽  
Needle Structure ◽  
Future Work ◽  
Path Deviation ◽  
Targeting Accuracy

Abstract Insects steer their stingers effortlessly to a specific target and release their venom in a certain path through the skin with minimal pain. These unique traits inspire the idea to develop bioinspired needles to reduce the insertion forces and to decrease the needle path deviation (deflection) for improved targeting accuracy. Our approach in this work focus on the design of mosquito-inspired needle and evaluation of the needle performance using vibration during tissue insertion. The mosquito-inspired needle design specifically consists of maxilla-shaped and labrum-tip design. The insertion force was measured using a force sensor, which was fixed at the needle end to measure the uniaxial force of needles. The applied vibration on the needle was measured along linear axis using piezoelectric actuator with a frequency of 150 Hz and an amplitude of 5μm. The needle was inserted at a constant speed by attaching the needle to a motorized linear stage. It was observed that the insertion forces of the proposed needle design with vibration showed a reduction by 27% compared to that of a conventional needle. This reduction in insertion force means that there is decrease in tissue gel phantom damage and it was also observed that needle bending has reduced due to reduction in bending stiffness of the tissue phantom. Furthermore, the needle insertion tests in real tissues (bovine kidney) considering the proposed needle geometry and vibration will be studied in future work to understand the bioinspired needle-tissue interactions.

Simulation for Needle Deflection and Soft Tissue Deformation in Needle Insertion

2010 ◽  
Vol 139-141 ◽  
pp. 889-892
Author(s):  
De Dong Gao ◽  
Hao Jun Zheng
Keyword(s):  
Finite Element ◽  
Soft Tissue ◽  
Three Dimensional ◽  
Needle Insertion ◽  
Tissue Deformation ◽  
Spring Model ◽  
Ansys Software ◽  
Soft Tissue Deformation ◽  
Needle Deflection ◽  
Element Method

Needle deflection and soft tissue deformation are the most important factors that affect accuracy in needle insertion. Based on the quasi-static thinking and needle forces, an improved virtual spring model and a finite element method are presented to analyze needle deflection and soft tissue deformation when a needle is inserted into soft tissue. According to the spring model, the trajectory of the needle tip is calculated with MATLAB using different parameters. With the superposed element method, the two and three dimensional quasi-static finite element models are created to simulate the dynamic process of soft tissue deformation using ANSYS software. The two methods will be available for steering the flexible needle to hit the target and avoid the obstacles precisely in the robot-assisted needle insertion.

Neural Network Modeling of Maximum Insertion Force of Bevel-Tip Surgical Needle

2018 ◽  
Author(s):  
Sai Teja Reddy Gidde ◽  
Tololupe Verissimo ◽  
Nuo Chen ◽  
Parsaoran Hutapea ◽  
Byoung-gook Loh
Keyword(s):  
Neural Network ◽  
Network Model ◽  
Neural Network Model ◽  
Network Modeling ◽  
The Body ◽  
Neural Network Modeling ◽  
Tissue Deformation ◽  
Input Output ◽  
Insertion Force ◽  
Tissue Phantom

Recently there has been a growing interest to develop innovative surgical needles for percutaneous interventional procedures. Needles are commonly used to reach target locations inside of the body for various medical interventions. The effectiveness of these procedures depends on the accuracy with which the needle tips reach the targets, such as a biopsy procedure to assess cancerous cells and tumors. One of the major issues in needle steering is the force during insertion, also known as the insertion (penetration) force. The insertion force causes tissue damage as well as tissue deformation. It has been well studied that tissue deformation causes the needle to deviate from its target thus causing an ineffective procedure. Simulation of surgical procedures provides an effective method for a robot-assisted surgery for pre- and intra-operative planning. Accurate modeling of the mechanical behavior on the interface of surgical needles and organs, specifically the insertion force, has been well recognized as a major challenge. Overcoming such obstacle by development of robust numerical models will enable realistic force feedback to the user during surgical simulation. This study investigates feasibility of predicting the insertion force of bevel-tip needles based on experimental data using neural network modeling. Simulation of the proposed neural network model is performed using Kera’s Python Deep Learning Library with TensorFlow as a backend. The insertion forces of needles with different bevel-tip angles in gel tissue phantom are measured using a specially designed automated needle insertion test setup. Input-output datasets are generated where the inputs are defined as bevel-tip angles and gel tissue phantom stiffness, and the output is defined as the insertion force. A properly trained neural network then maps the input data to the output data and the input-output dataset is supplied to train a neural network. Its performance is then evaluated using different and unseen input-output dataset. This paper shows that the proposed neural network model accurately predicts the insertion force.

scholarly journals Insertion Force of Polydopamine-Coated Needle on Phantom Tissues

2019 ◽  
Author(s):  
Kavi I. Patel ◽  
Sai T. R. Gidde ◽  
Haoqi Li ◽  
Tarun Podder ◽  
Fei Ren ◽  
...  
Keyword(s):  
Tissue Damage ◽  
Thermal Ablation ◽  
Disease Diagnosis ◽  
The Body ◽  
Body Parts ◽  
Insertion Force ◽  
Medical Interventions ◽  
Medical Specialists ◽  
Target Locations ◽  
Severe Tissue

Surgical needles are commonly used by medical specialists to reach target locations inside of the body for disease diagnosis or other medical interventions, such as biopsy, brachytherapy, thermal ablation, and drug delivery. Insertion of the needle in human body parts with a larger needle often results in severe tissue damage. Tissue damage could potentially be reduced by decreasing the insertion force caused mainly by the friction on the interface of needle and tissues. Here we propose the use of polydopamine (PDA) coating to reduce the friction force. In addition to its excellent biocompatibility, polydopamine has desirable adhesion, lubrication, biodegradability and, thermal stability properties. Our preliminary results on some needle prototypes show that by coating the needle with polydopamine, the insertion force can be reduced by 20–25%.

Incremental Needle Insertion System for Force and Position Sensing

2020 ◽  
Author(s):  
Dailen Brown ◽  
Jessica M. Gonzalez-Vargas ◽  
David Han ◽  
Scarlett Miller ◽  
Jason Moore
Keyword(s):  
Central Venous Catheterization ◽  
Needle Insertion ◽  
Medical Simulation ◽  
Central Venous ◽  
Insertion Force ◽  
Position Sensing ◽  
Venous Catheterization ◽  
Fresh Frozen ◽  
Needle Insertion Force ◽  
Path Deviation

Abstract An Incremental Needle Insertion System (INIS) which simultaneously measures the force and position of a needle during insertion was designed and fabricated for use in a tissue deformation study to improve realism in medical simulation. The INIS was tested in a fresh frozen cadaver experiment and the position of the needle was plotted and compared to the expected needle path. It was found that the INIS is sufficiently accurate with an average path deviation of 1.55 mm. In addition, INIS was shown to successfully measure the maximum Central Venous Catheterization needle insertion force which ranged from 3.02 N to 3.73 N.

EXPERIMENTAL STUDY OF NEEDLE INSERTION STRATEGIES OF SEED IMPLANTATION ARTICULATED ROBOT

2018 ◽  
Vol 18 (03) ◽  
pp. 1850023 ◽  
Author(s):  
YI LIANG ◽  
DEZHANG XU ◽  
BUYUN WANG ◽  
YONGDE ZHANG ◽  
YONG XU
Keyword(s):  
Transrectal Ultrasound ◽  
Three Dimensional ◽  
Needle Insertion ◽  
Body Structure ◽  
Control Software ◽  
Insertion Force ◽  
Seed Implantation ◽  
Insertion Device ◽  
Articulated Robot ◽  
Piezoelectric Vibration

This paper discusses several new mechanisms that may be used in prostate cancer seed implant robotics. Aiming at the limitation of human body structure space, and in order to improve robotic kinematic dexterity and execution efficiency. We have developed an articulated seed implantation robot with three-dimensional transrectal ultrasound navigation. It is noteworthy that the organization will produce displacement, deformation and needle tip deflection and other issues while needle inserting prostate. In order to improve positioning accuracy of robot to control the puncture needle, a piezoelectric vibration and rotation needle insertion device is designed and developed. Based on the evaluation experiment of vibration and rotation needle insertion, a high accuracy mixed needle insertion strategy is proposed and the corresponding control software is designed. Finally, the insertion force evaluation experiment is completed by mixed needle insertion strategy, and the experimental results validate the effectiveness of this method.

Study of Bioinspired Surgery Needle Advancing in Soft Tissues

2017 ◽  
Author(s):  
Mohammad Sahlabadi ◽  
Seyedvahid Khodaei ◽  
Kyle Jezler ◽  
Parsaoran Hutapea
Keyword(s):  
Traumatic Brain Injury ◽  
Soft Tissues ◽  
Needle Insertion ◽  
Bovine Brain ◽  
Bending Stiffness ◽  
Proper Solution ◽  
Insertion Force ◽  
Needle Path ◽  
The Brain ◽  
Gel Phantom

Although needle-based surgeries are considered as minimally invasive surgeries, the damage caused by the needle insertion in soft tissues, namely brain needs to be reduced. Any minor damage, swelling or bleeding in the brain tissue can lead to a long-lasting traumatic brain injury. Our approach to this challenge is to search for a proper solution in nature such as honeybees. In our previous studies, some new bioinspired needles (passive/active) mimicking honeybee stingers have been proposed and tested by conducting needle insertion tests in tissue gel phantoms. The main feature of the bioinspired needles is specially-design barbs on the needle structures. It was discovered that the insertion forces of the bioinspired needles are decreased by as much as 35%, which means that there is a decrease in tissue gel phantom damages. It was also observed that the needle path deflection in the tissue was greatly affected by the reduction in needle bending stiffness and the insertion force. The reduction in the bending stiffness would require lower forces of Nitinol actuators to navigate our smart/active needle inside the tissues. This work specifically aims to investigate the mechanics of the bioinspired needles in bovine brain tissues. The needle insertion tests in real tissues are designed and performed. The insertion mechanics of the bioinspired needles in bovine brain is studied and presented.

Scanning electron microscopy of freeze-fractured prescapular lymph node of caprine

1984 ◽  
Vol 42 ◽  
pp. 244-245
Author(s):  
O. Faroon ◽  
F. Al-Bagdadi ◽  
T. G. Snider ◽  
C. Titkemeyer
Keyword(s):  
Lymph Node ◽  
Lymph Nodes ◽  
Lymphatic System ◽  
Three Dimensional ◽  
Meat Products ◽  
The Body ◽  
Morphological Data ◽  
The World ◽  
Cellular Constituent ◽  
Scanning Electron

The lymphatic system is very important in the immunological activities of the body. Clinicians confirm the diagnosis of infectious diseases by palpating the involved cutaneous lymph node for changes in size, heat, and consistency. Clinical pathologists diagnose systemic diseases through biopsies of superficial lymph nodes. In many parts of the world the goat is considered as an important source of milk and meat products.The lymphatic system has been studied extensively. These studies lack precise information on the natural morphology of the lymph nodes and their vascular and cellular constituent. This is due to using improper technique for such studies. A few studies used the SEM, conducted by cutting the lymph node with a blade. The morphological data collected by this method are artificial and do not reflect the normal three dimensional surface of the examined area of the lymph node. SEM has been used to study the lymph vessels and lymph nodes of different animals. No information on the cutaneous lymph nodes of the goat has ever been collected using the scanning electron microscope.

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