Abstract
A proper mechanical characterization of soft biological tissue has a great significance in the medical application, such as virtual reality simulators, surgery preoperative planning and the design of force feedback system for master-slave medical robot. To study the mechanical properties of soft tissue in suture operation, this paper divided the suture into three phases on basis of suture operation process, and conducted experiments to investigate the tool-tissue interactive forces, where the parameters related to suturing operation were considered in experiments design to guarantee the reliability of the experiment, and the force model of each phases was established according to the experimental statistical data. And verification experiments were conducted to evaluate the models by comparing the forces obtained by models with those by sensor. The results showed that the built force model agreed with the experimental data well. The proposed force models can be used to reflect the force variation during suture.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Hu, T., Lau, A.C.W., Desai, J.P.: Instrumentation for testing soft tissue undergoing large deformation: ex vivo and in vivo studies. J. Med. Devices 2(4), 561–576 (2008)
Nava, A., Mazza, E., Kleinermann, F., et al.: Evaluation of the mechanical properties of human liver and kidney through aspiration experiments. Technol. Health Care 12(3), 269–280 (2004)
Nava, A., Mazza, E., Furrer, M., et al.: In vivo mechanical characterization of human liver. Med. Image Anal. 12(2), 203 (2008)
Barbé, L., Bayle, B., De Mathelin, M., et al.: Online robust model estimation and haptic clues detection during in vivo needle insertions (2006)
Schiavone, P., Chassat, F., Boudou, T., et al.: In vivo measurement of human brain elasticity using a light aspiration device. Med. Image Anal. 13(4), 673–678 (2009)
O’Leary, M.D., Simone, C., Washio, T., et al.: Robotic needle insertion: effects of friction and needle geometry. In: IEEE International Conference on Robotics and Automation, no 2, pp. 1774–1780 (2003)
Fung, Y.C.: Biomechanics: Mechanical Properties of Living Tissues, 2nd edn. Springer, New York (1993). https://doi.org/10.1007/978-1-4757-2257-4
Tong, P., Fung, Y.C.: The stress-strain relationship for the skin. J. Biomech. 9, 649–657 (1993)
Brouwer, I., Ustin, J., Bentley, L., Sherman, A., Dhruv, N., Tendick, F.: Measuring in vivo animal soft tissue properties for haptic modeling in surgical simulation. Med. Meets Virtual Reality 9, 69–74 (2001)
Ottensmeyer, M.P., Salisbury, J.K.: In vivo data acquisition instrument for solid organ mechanical property measurement. In: Niessen, W.J., Viergever, M.A. (eds.) MICCAI 2001. LNCS, vol. 2208, pp. 975–982. Springer, Heidelberg (2001). https://doi.org/10.1007/3-540-45468-3_116
Ottensmeyer, M.P., Kerdok, A.E., Howe, R.D., Dawson, S.L.: The effects of testing environment on the viscoelastic properties of soft tissues. In: Cotin, S., Metaxas, D. (eds.) ISMS 2004. LNCS, vol. 3078, pp. 9–18. Springer, Heidelberg (2004). https://doi.org/10.1007/978-3-540-25968-8_2
Okamura, A.M., Simone, C., O’Leary, M.D.: Force modeling for needle insertion into soft tissue. IEEE Trans. Biomed. Eng. 51(10), 1707–1716 (2004)
Bao, X., Li, W., Lu, M., et al.: Experiment study on puncture force between MIS suture needle and soft tissue. Biosurface Biotribology 2(2), 49–58 (2016)
DiMaio, S.P., Salcudean, S.E.: Needle insertion modeling and simulation. In: Proceedings of IEEE International Conference on Robotics Automation, pp. 2098–2105 (2002)
Samur, E., Sedef, M., Basdogan, C., et al.: A robotic indenter for minimally invasive measurement and characterization of soft tissue response. Med. Image Anal. 11(4), 361 (2007)
Ahn, B., Kim, J.: Measurement and characterization of soft tissue behavior with surface deformation and force response under large deformations. Med. Image Anal. 14(2), 138–148 (2010)
Xie, A., Fang, C., Huang, Y., et al.: Application of three-dimensional reconstruction and visible simulation technique in reoperation of hepatolithiasis. J. Gastroenterol. Hepatol. 28(2), 248 (2013)
Kataoka, H., Washio, T., Chinzei, K., Mizuhara, K., Simone, C., Okamura, A.M.: Measurement of the tip and friction force acting on a needle during penetration. In: Dohi, T., Kikinis, R. (eds.) MICCAI 2002. LNCS, vol. 2488, pp. 216–223. Springer, Heidelberg (2002). https://doi.org/10.1007/3-540-45786-0_27
Podder, T.K., Sherman, J., Messing, E.M., et al.: Needle insertion force estimation model using procedure-specific and patient-specific criteria. In: International Conference of Engineering in Medicine and Biology Society, pp. 555–558 (2006)
Ziegel, E.R.: Introduction to the Practice of Statistics. W.H. Freeman, New York (2001)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Gao, S. et al. (2019). Force Modeling of Tool-Tissue Interaction Force During Suturing. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11745. Springer, Cham. https://doi.org/10.1007/978-3-030-27529-7_26
Download citation
DOI: https://doi.org/10.1007/978-3-030-27529-7_26
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-27528-0
Online ISBN: 978-3-030-27529-7
eBook Packages: Computer ScienceComputer Science (R0)