You are viewing a javascript disabled version of the site. Please enable Javascript for this site to function properly.
Go to headerGo to navigationGo to searchGo to contentsGo to footer
In content section. Select this link to jump to navigation

Experimental analysis of robot-assisted needle insertion into porcine liver

Issue title: Frontiers in Biomedical Engineering and Biotechnology – Proceedings of the 4th International Conference on Biomedical Engineering and Biotechnology, 18–21 August 2015, Shanghai, China

Guest editors: Feng Liu, Dong-Hoon Lee, Ricardo Lagoa and Sandeep Kumar

Article type: Research Article

Authors: Wang, Wendonga; b; * | Shi, Yikaia | Goldenberg, Andrew A.b | Yuan, Xiaoqinga | Zhang, Penga | He, Lijinga | Zou, Yingjiea

Affiliations: [a] School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an, Shaanxi, P.R. China | [b] Department of Mechanical & Industrial Engineering, University of Toronto, Toronto, ON, Canada

Correspondence: [*] Address for Correspondence: Wendong Wang, School of Mechanical Engineering, Northwestern Polytechnical University, 127 West Youyi Road, Xi’an, Shaanxi. 710072. P.R. China. Tel.: +86 029-88494893; Fax: +86 029-88494893; E-mail: wdwang@nwpu.edu.cn.

Keywords: Robot-assisted system, needle insertion, manual operation, insertion force

DOI: 10.3233/BME-151325

Journal: Bio-Medical Materials and Engineering, vol. 26, no. s1, pp. S375-S380, 2015

Published: 2015
Get PDF open access

How to improve placement accuracy of needle insertion into liver tissue is of paramount interest to physicians. A robot-assisted system was developed to experimentally demonstrate its advantages in needle insertion surgeries. Experiments of needle insertion into porcine liver tissue were performed with conic tip needle (diameter 8 mm) and bevel tip needle (diameter 1.5 mm) in this study. Manual operation was designed to compare the performance of the presented robot-assisted system. The real-time force curves show outstanding advantages of robot-assisted operation in improving the controllability and stability of needle insertion process by comparing manual operation. The statistics of maximum force and average force further demonstrates robot-assisted operation causes less oscillation. The difference of liver deformation created by manual operation and robot-assisted operation is very low, 1 mm for average deformation and 2 mm for maximum deformation. To conclude, the presented robot-assisted system can improve placement accuracy of needle by stably control insertion process.

Show more