In-vivo and in-vitro mechanical properties of pig liver during needle puncture for needle insertion

Internal organ's models have been studied for automatic needle insertion or a VR simulator that is used for surgical training. In this study, a puncture experiment was performed with the puncture device to examine the change of mechanical property between the tissue in-vivo and the excised tissue in mechanical property measurement experiments that are necessary to design the internal organ's model. In the experiments, a liver of the same pig was punctured in-vivo and in-vitro, and the applied force to the needle from the liver, the puncture depth and the puncture speed are measured to examine the change of the organ's property. In in-vitro experiments, the change of the organ's property of the elapsed time after the animal was euthanized was also examined. The experimental results showed that the amount of the puncture forces of the liver in-vitro were about twice larger than those of the liver in-vivo. The puncture displacements at the moment of piercing the surface of the liver in-vivo and in-vitro were almost the same. The parameters of the Kelvin Boltzmann model for excised tissue indicated higher value than those of in-vivo. These results suggested that there is a difference in properties between the tissue in-vivo and the excised tissue and careful consideration is required in the modeling.

[1]  Bernard Bayle,et al.  In Vivo Model Estimation and Haptic Characterization of Needle Insertions , 2007, Int. J. Robotics Res..

[2]  Zhe Chen,et al.  Dosimetric effects of needle divergence in prostate seed implant using 125I and 103Pd radioactive seeds. , 2000, Medical physics.

[3]  S. Hayati,et al.  A robot with improved absolute positioning accuracy for CT guided stereotactic brain surgery , 1988, IEEE Transactions on Biomedical Engineering.

[4]  Robert A. Cormack,et al.  A novel approach to an automated needle insertion in brachytherapy procedures , 2018, Medical & Biological Engineering & Computing.

[5]  Iulian Iordachita,et al.  Reconfigurable MRI-guided robotic surgical manipulator: Prostate brachytherapy and neurosurgery applications , 2011, 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[6]  Kiyoshi Naemura,et al.  Estimation of the Cutting Force Using the Dynamic Friction Coefficient Obtained by Reaction Force During the Needle Insertion , 2013 .

[7]  Shivpoojan Kori,et al.  Time since Death from Rigor Mortis: Forensic Prospective , 2018, Journal of Forensic Sciences & Criminal Investigation.

[8]  Chao Liu,et al.  Soft tissue force control using active observers and viscoelastic interaction model , 2012, 2012 IEEE International Conference on Robotics and Automation.

[9]  T. Podder,et al.  A real-time prostate cancer detection technique using needle insertion force and patient-specific criteria during percutaneous intervention. , 2009, Medical physics.

[10]  Makoto Hashizume,et al.  Development of a needle insertion manipulator for central venous catheterization , 2012, The international journal of medical robotics + computer assisted surgery : MRCAS.

[11]  P. Dupont,et al.  Trajectory Optimization for Dynamic Needle Insertion , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[12]  Cameron R. Bass,et al.  Material characterization of in vivo and in vitro porcine brain using shear wave elasticity , 2013, IUS 2013.

[13]  Masakatsu G. Fujie,et al.  Development and validation of a viscoelastic and nonlinear liver model for needle insertion , 2008, International Journal of Computer Assisted Radiology and Surgery.

[14]  Rajni V. Patel,et al.  Needle insertion into soft tissue: a survey. , 2007, Medical engineering & physics.

[15]  Hugh A. Bruck,et al.  Measurement of Mechanical Properties of Soft Tissues In Vitro Under Controlled Tissue Hydration , 2012, Experimental Mechanics.

[16]  Gabor Fichtinger,et al.  Design of a novel MRI compatible manipulator for image guided prostate interventions , 2005, IEEE Transactions on Biomedical Engineering.

[17]  Yonghua Chen,et al.  Modeling of flexible needle for haptic insertion simulation , 2008, 2008 IEEE Conference on Virtual Environments, Human-Computer Interfaces and Measurement Systems.

[18]  A R Dennison,et al.  Segmental nature of the porcine liver and its potential as a model for experimental partial hepatectomy , 2003, The British journal of surgery.

[19]  Nobuhiko Hata,et al.  Towards clinically optimized MRI-guided surgical manipulator for minimally invasive prostate percutaneous interventions: constructive design , 2013, 2013 IEEE International Conference on Robotics and Automation.

[20]  P.X. Liu,et al.  Modelling of needle insertion forces for surgical simulation , 2005, IEEE International Conference Mechatronics and Automation, 2005.

[21]  Orcun Goksel,et al.  3D Needle-Tissue Interaction Simulation for Prostate Brachytherapy , 2005, MICCAI.

[22]  Tsuyoshi Koyama,et al.  Forces Exerted During Robotic Needle Insertion Into Human Vertebra , 2004 .

[23]  T. Podder,et al.  In vivo motion and force measurement of surgical needle intervention during prostate brachytherapy. , 2006, Medical physics.

[24]  Rajnikant V. Patel,et al.  Experimental study of robotic needle insertion in soft tissue , 2004, CARS.

[25]  Masakatsu G. Fujie,et al.  Modeling of conditions where a puncture occurs during needle insertion considering probability distribution , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[26]  Hiroyuki Abe,et al.  Data Book on Mechanical Properties of Living Cells, Tissues, and Organs , 1996 .

[27]  Allison M. Okamura,et al.  Force modeling for needle insertion into soft tissue , 2004, IEEE Transactions on Biomedical Engineering.