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A biomechanical model describing tangential tissue deformations during contact micro-probe scanning | IEEE Conference Publication | IEEE Xplore

A biomechanical model describing tangential tissue deformations during contact micro-probe scanning


Abstract:

This paper presents a biomechanical model for tissue deformations in the case of tangential micro-probe scanning for image acquisition. The tissue is modelled as a rigid ...Show More

Abstract:

This paper presents a biomechanical model for tissue deformations in the case of tangential micro-probe scanning for image acquisition. The tissue is modelled as a rigid body and its deformations - considered as elastic - as springs between this body and a fixed reference body. The contact between the probe and the tissue is then considered as a Hertzian sphere-plane contact with a Coulomb friction force. Given those hypotheses, an analytical model of the tissue deformations for 2D tangential movements along the locally planar tissue surface can be established. Similarly to the work of Erden et al. [1], the model has a unique parameter: the loading distance of the tissue. For given scan conditions, this parameter can be calibrated with a simple back-and-forth movement and image measurements. It is of particular interest in minimally invasive surgery where measurements of the friction forces or of the mechanical parameters of the tissue are complex to carry out. Simulations are in accordance with experiments and show that this model allows for accurate estimation of the probe/tissue trajectory in one dimension scans. Moreover, unlike previous studies, the model allows the estimation of the probe/tissue trajectory also for 2D scans. Both coupling behaviour and stick/slip transitions when scanning direction changes are taken into account. However experiments show that anisotropy is an important parameter when studying 2D coupling behaviour. Therefore, an extension of the model that takes anisotropic behaviour of the tissue into account is proposed. Experiments carried out on ex vivo bovine liver and chicken muscle tissues show that the probe/tissue trajectory is accurately predicted by the model. However, this increases the number of parameters to five. As a consequence, unlike in the isotropic case, the parameters can not be simply calibrated using a back-and-forth movement. Further work will be carried out towards finding an easy and effective calibration procedure t...
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
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Conference Location: Chicago, IL, USA

References

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