Document Detail

Control of soft tissue deformation during robotic needle insertion.
MedLine Citation:
PMID:  16785183     Owner:  NLM     Status:  MEDLINE    
Accurate needle insertion into soft, inhomogeneous tissue is of practical interest because of its importance in percutaneous therapies. In procedures that involve multiple needle insertions such as transrectal ultrasound-guided prostate brachytherapy, it is important to reduce tissue deformation before puncture and during needle insertion. In order to reduce this deformation, we have studied the effect of different trajectories for a 2-DOF (degrees of freedom) robot performing needle insertion in soft tissue. To obtain an optimum trajectory, we have compared tissue indentation and frictional forces for different trajectories. According to the results of our experiments, infinitesimal force per tissue displacement is a useful parameter for online trajectory update. In addition, the results show that axial rotation can reduce tissue indentation before puncture and frictional forces after puncture. Our proposed position/force controller is shown to provide considerable improvement in performance with regard to minimizing tissue deformation before puncture.
Niki Abolhassani; Rajni Patel; Mehrdad Moallem
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Publication Detail:
Type:  Journal Article; Research Support, Non-U.S. Gov't    
Journal Detail:
Title:  Minimally invasive therapy & allied technologies : MITAT : official journal of the Society for Minimally Invasive Therapy     Volume:  15     ISSN:  1364-5706     ISO Abbreviation:  Minim Invasive Ther Allied Technol     Publication Date:  2006  
Date Detail:
Created Date:  2006-06-20     Completed Date:  2006-12-07     Revised Date:  -    
Medline Journal Info:
Nlm Unique ID:  9612996     Medline TA:  Minim Invasive Ther Allied Technol     Country:  England    
Other Details:
Languages:  eng     Pagination:  165-76     Citation Subset:  IM    
Department of Electrical and Computer Engineering, University of Western Ontario, London, Canada.
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MeSH Terms
Connective Tissue / physiology*

From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine

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