A scalable platform for biomechanical studies of tissue cutting forces

This paper presents a novel and scalable experimental platform for biomechanical analysis of tissue cutting that exploits a triaxial force-sensitive scalpel and a high resolution vision system. Real-time measurements of cutting forces can be used simultaneously with accurate visual information in order to extract important biomechanical clues in real time that would aid the surgeon during minimally invasive intervention in preserving healthy tissues. Furthermore, the in vivo data gathered can be used for modeling the viscoelastic behavior of soft tissues, which is an important issue in surgical simulator development. Thanks to a modular approach, this platform can be scaled down, thus enabling in vivo real-time robotic applications. Several cutting experiments were conducted with soft porcine tissues (lung, liver and kidney) chosen as ideal candidates for biopsy procedures. The cutting force curves show repeated self-similar units of localized loading followed by unloading. With regards to tissue properties, the depth of cut plays a significant role in the magnitude of the cutting force acting on the blade. Image processing techniques and dedicated algorithms were used to outline the surface of the tissues and estimate the time variation of the depth of cut. The depth of cut was finally used to obtain the normalized cutting force, thus allowing comparative biomechanical analysis.