scholarly journals Experimental analysis of robot-assisted needle insertion into porcine liver

2015 ◽  
Vol 26 (s1) ◽  
pp. S375-S380 ◽  
Author(s):  
Wendong Wang ◽  
Yikai Shi ◽  
Andrew A. Goldenberg ◽  
Xiaoqing Yuan ◽  
Peng Zhang ◽  
...  
Keyword(s):  
Experimental Analysis ◽  
Needle Insertion ◽  
Robot Assisted ◽  
Porcine Liver

A MECHANICS-BASED MODEL FOR SIMULATING THE NEEDLE DEFLECTION IN TRANSVERSE ISOTROPIC TISSUE FOR A PERCUTANEOUS PUNCTURE

2019 ◽  
Vol 19 (06) ◽  
pp. 1950060 ◽  
Author(s):  
WANYU LIU ◽  
ZHIYONG YANG ◽  
SHAN JIANG
Keyword(s):  
Needle Insertion ◽  
Robot Assisted ◽  
Insertion Depth ◽  
Interaction Forces ◽  
Percutaneous Puncture ◽  
Needle Deflection ◽  
Isotropic Elasticity ◽  
Transverse Isotropic ◽  
Radioactive Seeds ◽  
Medical Needle

During the percutaneous puncture for robot-assisted brachytherapy, a medical needle is usually inserted into fiber-structured soft tissue which has transverse isotropic elasticity, such as muscle and skin, to deliver radioactive seeds that kill cancer cells. To place the radioactive seeds more accurately, it is necessary to assess the effect of the transverse isotropic elasticity on the needle deflection. A mechanics-based model for simulating the needle deflection in transverse isotropic tissue is developed in this paper. The anisotropic needle–tissue interaction forces are estimated and used as inputs to drive the model for simulating needle deflections for different insertion orientation angles. Automatic insertion experiments were performed on a single-layered porcine muscle at five different insertion orientation angles. The results show that the maximum difference in the tip deflection for the different insertion orientation angles is 2.99[Formula: see text]mm when the insertion depth is 50[Formula: see text]mm. The maximum simulated error of the needle axis deflection is 0.62[Formula: see text]mm for all insertion orientation angles. The developed model can successfully simulate the needle deflections inside transverse isotropic tissue for different insertion orientation angles. This work is useful for predicting and compensating for the deflection error for automatic needle insertion.

Physical property of liver for robot-assisted needle insertion

2004 ◽  
Vol 1268 ◽  
pp. 1335 ◽  
Author(s):  
Yo Kobayashi ◽  
Jun Okamoto ◽  
Masakatsu G. Fujie
Keyword(s):  
Physical Property ◽  
Needle Insertion ◽  
Robot Assisted

scholarly journals Design and Development of an Augmented Reality Robotic System for Large Tumor Ablation

2009 ◽  
Vol 8 (1) ◽  
pp. 27-35 ◽  
Author(s):  
Liangjing Yang ◽  
Chee-Kong Chui ◽  
Stephen Chang
Keyword(s):  
Augmented Reality ◽  
Interventional Procedure ◽  
Needle Insertion ◽  
Robotic System ◽  
Robot Assisted ◽  
Large Tumor ◽  
Projection System ◽  
Ablation Volume ◽  
Insertion Device ◽  
Surgical System

An augmented reality based robotic system is proposed for treatment of large liver tumor using multiple overlapping ablations technique. Radiofrequency ablation is a non-resection interventional procedure that minimizes invasiveness and reduces trauma. A single ablation is however limited by the ablation volume coverage. In treatment of tumor with diameter that could be 150mm or more, a single needle insertion will not create sufficient ablation coverage to destroy the entire tumor. As such, multiple insertions are required. The precision and consistency associated with robot assisted surgery coupled with direct augmented reality projection system can better facilitate such treatment. The projection system is equipped with manipulator mechanism and robotic needle insertion arm for multiple insertions and needle deployment. The prototype augmented reality surgical system was evaluated on its abilities in ablating large tumor. Virtual models of the rectangular robot for projector manipulation and robotic needle insertion device were also used to assess the effectiveness of the proposed AR design.

A Computational Multilayer Model to Simulate Hollow Needle Insertion into Biological Porcine Liver Tissue

2021 ◽  
Author(s):  
Mohamed G Jushiddi ◽  
Aladin Mani ◽  
Christophe Silien ◽  
Syed A.M. Tofail ◽  
Peter Tiernan ◽  
...  
Keyword(s):  
Liver Tissue ◽  
Needle Insertion ◽  
Porcine Liver ◽  
Multilayer Model ◽  
Hollow Needle
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