Recent Advances in Soft Biological Tissue Manipulating Technologies

Biological soft tissues manipulation, including conventional (mechanical) and nonconventional (laser, waterjet and ultrasonic) processes, is critically required in most surgical innervations. However, the soft tissues, with their nature of anisotropic and viscoelastic mechanical properties, and high biological and heat sensitivities, are difficult to manipulated. Moreover, the mechanical and thermal induced damage on the surface and surrounding tissue during the surgery can impair the proliferative phase of healing. Thus, understanding the manipulation mechanism and the resulted surface damage is of importance to the community. In recent years, more and more scholars carried out researches on soft biological tissue cutting in order to improve the cutting performance of surgical instruments and reduce the surgery induced tissue damage. However, there is a lack of compressive review that focused on the recent advances in soft biological tissue manipulating technologies. Hence, this review paper attempts to provide an informative literature survey of the state-of-the-art of soft tissue manipulation processes in surgery. This is achieved by exploring and recollecting the different soft tissue manipulation techniques currently used, including mechanical, laser, waterjet and ultrasonic cutting and advanced anastomosis and reconstruction processes, with highlighting their governing removal mechanisms as well as the surface and subsurface damages

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Predicting Depth of Cut of Water-jet in Soft Tissue Simulants based on Finite Element Analysis with the Application to Fracture-directed Water-jet Steerable Needles

This paper is accepted and presented at 2019 International Symposium on Medical Robotics (ISMR).Water-jet technology has been used recently in medical applications including surgery, soft tissue resection, bone cutting, and wound debridement. The ability to measure the depth of cut of water-jet is important in these applications to selectively cut the desired tissue, and avoid damage to deeper layers. For fracture-directed water-jet steerable needles, one should be able to predict the depth of cut of water-jet in order to model the motion of the steerable needle. In this paper, the effect of tissue stiffness, water-jet flow rate, and nozzle diameter on depth of cut is studied experimentally and verified by finite element modeling. It is found that the depth of cut of water- jet has a direct relationship with flow rate, and an inverse relationship with elastic modulus of the tissue, and diameter of the needle. The proposed finite element model can predict the depth of cut with acceptable accuracy

Predicting Depth of Cut of Water-jet in Soft Tissue Simulants based on Finite Element Analysis with the Application to Fracture-directed Water-jet Steerable Needles

Water-jet technology has been used recently in medical applications including surgery, soft tissue resection, bone cutting, and wound debridement. The ability to measure the depth of cut of water-jet is important in these applications to selectively cut the desired tissue, and avoid damage to deeper layers. For fracture-directed water-jet steerable needles, one should be able to predict the depth of cut of water-jet in order to model the motion of the steerable needle. In this paper, the effect of tissue stiffness, water-jet flow rate, and nozzle diameter on depth of cut is studied experimentally and verified by finite element modeling. It is found that the depth of cut of water- jet has a direct relationship with flow rate, and an inverse relationship with elastic modulus of the tissue, and diameter of the needle. The proposed finite element model can predict the depth of cut with acceptable accuracy