729 research outputs found
Realistic tool-tissue interaction models for surgical simulation and planning
Surgical simulators present a safe and potentially effective method for surgical training, and can also be used in pre- and intra-operative surgical planning. Realistic modeling of medical interventions involving tool-tissue interactions has been considered to be a key requirement in the development of high-fidelity simulators and planners. The soft-tissue constitutive laws, organ geometry and boundary conditions imposed by the connective tissues surrounding the organ, and the shape of the surgical tool interacting with the organ are some of the factors that govern the accuracy of medical intervention planning.\ud
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This thesis is divided into three parts. First, we compare the accuracy of linear and nonlinear constitutive laws for tissue. An important consequence of nonlinear models is the Poynting effect, in which shearing of tissue results in normal force; this effect is not seen in a linear elastic model. The magnitude of the normal force for myocardial tissue is shown to be larger than the human contact force discrimination threshold. Further, in order to investigate and quantify the role of the Poynting effect on material discrimination, we perform a multidimensional scaling study. Second, we consider the effects of organ geometry and boundary constraints in needle path planning. Using medical images and tissue mechanical properties, we develop a model of the prostate and surrounding organs. We show that, for needle procedures such as biopsy or brachytherapy, organ geometry and boundary constraints have more impact on target motion than tissue material parameters. Finally, we investigate the effects surgical tool shape on the accuracy of medical intervention planning. We consider the specific case of robotic needle steering, in which asymmetry of a bevel-tip needle results in the needle naturally bending when it is inserted into soft tissue. We present an analytical and finite element (FE) model for the loads developed at the bevel tip during needle-tissue interaction. The analytical model explains trends observed in the experiments. We incorporated physical parameters (rupture toughness and nonlinear material elasticity) into the FE model that included both contact and cohesive zone models to simulate tissue cleavage. The model shows that the tip forces are sensitive to the rupture toughness. In order to model the mechanics of deflection of the needle, we use an energy-based formulation that incorporates tissue-specific parameters such as rupture toughness, nonlinear material elasticity, and interaction stiffness, and needle geometric and material properties. Simulation results follow similar trends (deflection and radius of curvature) to those observed in macroscopic experimental studies of a robot-driven needle interacting with gels
A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools
International audienc
Robotics-Assisted Needle Steering for Percutaneous Interventions: Modeling and Experiments
Needle insertion and guidance plays an important role in medical procedures such as brachytherapy and biopsy. Flexible needles have the potential to facilitate precise targeting and avoid collisions during medical interventions while reducing trauma to the patient and post-puncture issues. Nevertheless, error introduced during guidance degrades the effectiveness of the planned therapy or diagnosis. Although steering using flexible bevel-tip needles provides great mobility and dexterity, a major barrier is the complexity of needle-tissue interaction that does not lend itself to intuitive control. To overcome this problem, a robotic system can be employed to perform trajectory planning and tracking by manipulation of the needle base. This research project focuses on a control-theoretic approach and draws on the rich literature from control and systems theory to model needle-tissue interaction and needle flexion and then design a robotics-based strategy for needle insertion/steering. The resulting solutions will directly benefit a wide range of needle-based interventions. The outcome of this computer-assisted approach will not only enable us to perform efficient preoperative trajectory planning, but will also provide more insight into needle-tissue interaction that will be helpful in developing advanced intraoperative algorithms for needle steering. Experimental validation of the proposed methodologies was carried out on a state of-the-art 5-DOF robotic system designed and constructed in-house primarily for prostate brachytherapy. The system is equipped with a Nano43 6-DOF force/torque sensor (ATI Industrial Automation) to measure forces and torques acting on the needle shaft. In our setup, an Aurora electromagnetic tracker (Northern Digital Inc.) is the sensing device used for measuring needle deflection. A multi-threaded application for control, sensor readings, data logging and communication over the ethernet was developed using Microsoft Visual C 2005, MATLAB 2007 and the QuaRC Toolbox (Quanser Inc.). Various artificial phantoms were developed so as to create a realistic medium in terms of elasticity and insertion force ranges; however, they simulated a uniform environment without exhibiting complexities of organic tissues. Experiments were also conducted on beef liver and fresh chicken breast, beef, and ham, to investigate the behavior of a variety biological tissues
Controlling the Error on Target Motion through Real-time Mesh Adaptation: Applications to Deep Brain Stimulation
We present an error-controlled mesh refinement procedure for needle insertion
simulation and apply it to the simulation of electrode implantation for deep
brain stimulation, including brain shift. Our approach enables to control the
error in the computation of the displacement and stress fields around the
needle tip and needle shaft by suitably refining the mesh, whilst maintaining a
coarser mesh in other parts of the domain. We demonstrate through academic and
practical examples that our approach increases the accuracy of the displacement
and stress fields around the needle without increasing the computational
expense. This enables real-time simulations. The proposed methodology has
direct implications to increase the accuracy and control the computational
expense of the simulation of percutaneous procedures such as biopsy,
brachytherapy, regional anesthesia, or cryotherapy and can be essential to the
development of robotic guidance.Comment: 21 pages, 14 figure
Non linear force feedback enhancement for cooperative robotic neurosurgery enforces virtual boundaries on cortex surface
Surgeons can benefit from the cooperation with a robotic assistant during the repetitive execution of precise targeting tasks on soft tissues, such as brain cortex stimulation procedures in open-skull neurosurgery. Position-based force-to-motion control schemes may not be satisfactory solution to provide the manipulator with the high compliance desirable during guidance along wide trajectories. A new torque controller with non-linear force feedback enhancement (FFE) is presented to provide augmented haptic perception to the operator from instrument-tissue interaction. Simulation tests were performed to evaluate the system stability according to different non-linear force modulation functions (power, sigmoidal and arc tangent). The FFE controller with power modulation was experimentally validated with a pool of non-expert users using brain-mimicking gelatin phantoms (8%-16% concentration). Besides providing hand tremor rejection for a stable holding of the tool, the FFE controller was proven to allow for a safer tissue contact with respect to both robotic assistance without force feedback and freehand executions (50% and 75% reduction of the indentation depth, respectively). Future work will address the evaluation of the safety features of the FFE controller with expert surgeons on a realistic brain phantom, also accounting for
unpredictable tissue's motions as during seizures due to cortex stimulation
Ilaptic Feedback Device for Needle Insertion
Tele-surgery is one of the emerging fields which combine engineering and medical sciences.
Application of tole-surgery can be found in remote communities, war-zones and disasterstricken
areas. One of the most complex and tedious issue in tele-surgery is needle insertion.
The surgeon relies on haptic feedback during needle insertion. The force exerted on needle
during insertion is measured and reproduced at surgeon's end is known as haptic feedback.
The realistic force reproduction requires haptic feedback device which should be
dynamically identical to needle. The haptic feedback device enables the surgeon to sense the
needle insertion remotely.
The basic objective of this thesis is to design a device used for needle insertions in soft tissue.
The force information from needle insertions is measured by a sensor. The force feedback
produced by the device can be used in robot-assisted needle insertion. A device is designed
for reality-based data that results in more accurate representation of a needle insertion haptic
feedback scenario.
The device is modeled dynamically and it is clear from the model that the reactive force is
reproduced by the friction forces which is controlled by the motors. The system is sensitive
to mass of rollers, mass of the stick and friction between the stick and rollers.
The needle insertion force is modeled in three parts; force due to capsule stiffness, friction,
and cutting. The force due to capsule stiffness is modeled terms of three components namely
diameter of needle, elasticity of tissue and deformation of tissue. The data from model is
compared with real time force data. The haptic feedback device input and output forces are
compared and the highest correlation factor is 82%. The sensitivity analysis of the device is
performed. The capsule stiffness force for 0.9 millimeter diameter needle is 0.98 Newton, the
stiffness force for 0.8 millimeter is 0.91 Newton and stiffness force for 0.6 millimeter
diameter is 0.41 Newton. The capsule stiffness force for 0.6 millimeter needle is not
following the capsule stiffness model. The insertion force data was collected on chicken skin
and meat.
The device designed in this work is having one degree of freedom; it only produces force
feedback for vertical needle insertion. This design is not able to produce the force feedback
for angular needle insertion.
Graphical User Interface is designed for the visual haptic feedback. The data acquisition is
done with the help of a PC sound card. Future work should include the design of a multidegree
of freedom haptic feedback device and to advance the GUI for audio feedback that
may be extended to accommodate the design of a simulator
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