Design and Experimental Evaluation of Mosquito-Inspired Needle Structure in Soft Materials

2020 ◽  
Author(s):  
Sai Teja Reddy Gidde ◽  
Parsaoran Hutapea
Keyword(s):  
Soft Materials ◽  
Force Sensor ◽  
Needle Insertion ◽  
Insertion Force ◽  
Tissue Phantom ◽  
Tissue Interactions ◽  
Needle Structure ◽  
Future Work ◽  
Path Deviation ◽  
Targeting Accuracy

Abstract Insects steer their stingers effortlessly to a specific target and release their venom in a certain path through the skin with minimal pain. These unique traits inspire the idea to develop bioinspired needles to reduce the insertion forces and to decrease the needle path deviation (deflection) for improved targeting accuracy. Our approach in this work focus on the design of mosquito-inspired needle and evaluation of the needle performance using vibration during tissue insertion. The mosquito-inspired needle design specifically consists of maxilla-shaped and labrum-tip design. The insertion force was measured using a force sensor, which was fixed at the needle end to measure the uniaxial force of needles. The applied vibration on the needle was measured along linear axis using piezoelectric actuator with a frequency of 150 Hz and an amplitude of 5μm. The needle was inserted at a constant speed by attaching the needle to a motorized linear stage. It was observed that the insertion forces of the proposed needle design with vibration showed a reduction by 27% compared to that of a conventional needle. This reduction in insertion force means that there is decrease in tissue gel phantom damage and it was also observed that needle bending has reduced due to reduction in bending stiffness of the tissue phantom. Furthermore, the needle insertion tests in real tissues (bovine kidney) considering the proposed needle geometry and vibration will be studied in future work to understand the bioinspired needle-tissue interactions.

Tissue Deformation and Insertion Force of Bee-Stinger Inspired Surgical Needles

2018 ◽  
Vol 12 (3) ◽  
Author(s):  
Mohammad Sahlabadi ◽  
Parsaoran Hutapea
Keyword(s):  
Three Dimensional ◽  
Needle Insertion ◽  
The Body ◽  
Image Correlation ◽  
Tissue Deformation ◽  
Insertion Force ◽  
Needle Path ◽  
Percutaneous Procedures ◽  
Target Locations ◽  
Path Deviation

Surgical needles are commonly used to reach target locations inside of the body for percutaneous procedures. The major issues in needle steering in tissues are the insertion force which causes tissue damage and tissue deformation that causes the needle path deviation (i.e., tip deflection) resulting in the needle missing the intended target. In this study, honeybee-inspired needle prototypes were proposed and studied to decrease the insertion force and to reduce the tissue deformation. Three-dimensional (3D) printing technology was used to manufacture scaled-up needle prototypes. Needle insertion tests on tissue-mimicking polyvinyl chloride (PVC) gel were performed to measure the insertion force and the tip deflection. Digital image correlation (DIC) study was conducted to determine the tissue deformation during the insertion. It was demonstrated that the bioinspired needles can be utilized to decrease the insertion force by 24% and to minimize the tip deflection. It was also observed that the bioinspired needles decrease the tissue deformation by 17%. From this study, it can be concluded that the proposed bee-inspired needle design can be used to develop and manufacture innovative surgical needles for more effective and less invasive percutaneous procedures.

scholarly journals Real-time measurement of intraocular pressure variation during automatic intravitreal injections: An ex-vivo experimental study using porcine eyes

PLoS ONE ◽  
2021 ◽  
Vol 16 (8) ◽  
pp. e0256344
Author(s):  
Ikjong Park ◽  
Han Sang Park ◽  
Hong Kyun Kim ◽  
Wan Kyun Chung ◽  
Keehoon Kim
Keyword(s):  
Intraocular Pressure ◽  
Real Time ◽  
Ex Vivo ◽  
Force Sensor ◽  
Needle Insertion ◽  
Injection Rate ◽  
Insertion Force ◽  
Needle Size ◽  
Iop Elevation ◽  
Injection Rates

Purpose To measure needle insertion force and change in intraocular pressure (IOP) in real-time during intravitreal injection (IVI). The effects of needle size, insertion speed, and injection rate to IOP change were investigated. Methods Needle insertion and fluid injection were performed on 90 porcine eyeballs using an automatic IVI device. The IVI conditions were divided according to needle sizes of 27-gauge (G), 30G, and 33G; insertion speeds of 1, 2, and 5 mm/s; and injection rates of 0.01, 0.02, and 0.05 mL/s. Insertion force and IOP were measured in real-time using a force sensor and a pressure transducer. Results The peak IOP was observed when the needle penetrated the sclera; the average IOP elevation was 96.3, 67.1, and 59.4 mmHg for 27G, 30G, and 33G needles, respectively. An increase in insertion speed caused IOP elevation at the moment of penetration, but this effect was reduced as needle size decreased: 109.8–85.9 mmHg in 27G for 5–1 mm/s (p = 0.0149) and 61.8–60.7 mmHg in 33G for 5–1 mm/s (p = 0.8979). Injection speed was also related to IOP elevation during the stage of drug injection: 16.65 and 11.78 mmHg for injection rates of 0.05 and 0.01 mL/s (p < 0.001). Conclusion The presented data offers an understanding of IOP changes during each step of IVI. Slow needle insertion can reduce IOP elevation when using a 27G needle. Further, the injection rate must be kept low to avoid IOP elevations during the injection stage.

Incremental Needle Insertion System for Force and Position Sensing

2020 ◽  
Author(s):  
Dailen Brown ◽  
Jessica M. Gonzalez-Vargas ◽  
David Han ◽  
Scarlett Miller ◽  
Jason Moore
Keyword(s):  
Central Venous Catheterization ◽  
Needle Insertion ◽  
Medical Simulation ◽  
Central Venous ◽  
Insertion Force ◽  
Position Sensing ◽  
Venous Catheterization ◽  
Fresh Frozen ◽  
Needle Insertion Force ◽  
Path Deviation

Abstract An Incremental Needle Insertion System (INIS) which simultaneously measures the force and position of a needle during insertion was designed and fabricated for use in a tissue deformation study to improve realism in medical simulation. The INIS was tested in a fresh frozen cadaver experiment and the position of the needle was plotted and compared to the expected needle path. It was found that the INIS is sufficiently accurate with an average path deviation of 1.55 mm. In addition, INIS was shown to successfully measure the maximum Central Venous Catheterization needle insertion force which ranged from 3.02 N to 3.73 N.

scholarly journals Minimally disruptive needle insertion: a biologically inspired solution

2016 ◽  
Vol 6 (3) ◽  
pp. 20150107 ◽  
Author(s):  
Alexander Leibinger ◽  
Matthew J. Oldfield ◽  
Ferdinando Rodriguez y Baena
Keyword(s):  
Soft Tissue ◽  
Needle Insertion ◽  
Three Dimensions ◽  
Image Correlation ◽  
Correlation Technique ◽  
Biologically Inspired ◽  
Tissue Phantom ◽  
Curved Trajectories ◽  
Insertion Method ◽  
Targeting Accuracy

The mobility of soft tissue can cause inaccurate needle insertions. Particularly in steering applications that employ thin and flexible needles, large deviations can occur between pre-operative images of the patient, from which a procedure is planned, and the intra-operative scene, where a procedure is executed. Although many approaches for reducing tissue motion focus on external constraining or manipulation, little attention has been paid to the way the needle is inserted and actuated within soft tissue. Using our biologically inspired steerable needle, we present a method of reducing the disruptiveness of insertions by mimicking the burrowing mechanism of ovipositing wasps. Internal displacements and strains in three dimensions within a soft tissue phantom are measured at the needle interface, using a scanning laser-based image correlation technique. Compared to a conventional insertion method with an equally sized needle, overall displacements and strains in the needle vicinity are reduced by 30% and 41%, respectively. The results show that, for a given net speed, needle insertion can be made significantly less disruptive with respect to its surroundings by employing our biologically inspired solution. This will have significant impact on both the safety and targeting accuracy of percutaneous interventions along both straight and curved trajectories.

scholarly journals Force-Sensor-Based Estimation of Needle Tip Deflection in Brachytherapy

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Thomas Lehmann ◽  
Mahdi Tavakoli ◽  
Nawaid Usmani ◽  
Ronald Sloboda
Keyword(s):  
Force Sensor ◽  
Needle Insertion ◽  
Interstitial Brachytherapy ◽  
Control Technique ◽  
Torque Sensor ◽  
Treatment Efficiency ◽  
Treatment Procedure ◽  
Virtual Sensor ◽  
Needle Deflection ◽  
Mechanical Models

A virtual sensor is developed for the online estimation of needle tip deflection during permanent interstitial brachytherapy needle insertion. Permanent interstitial brachytherapy is an effective, minimally invasive, and patient friendly cancer treatment procedure. The deflection of the needles used in the procedure, however, undermines the treatment efficiency and, therefore, needs to be minimized. Any feedback control technique to minimize the needle deflection will require feedback of this quantity, which is not easy to provide. The proposed virtual sensor for needle deflection incorporates a force/torque sensor, mounted at the base of the needle that always remains outside the patient. The measured forces/torques are used by a mathematical model, developed based on mechanical needle properties. The resulting estimation of tip deflection in real time during needle insertion is the main contribution of this paper. The proposed approach solely relies on the measured forces and torques without a need for any other invasive/noninvasive sensing devices. A few mechanical models have been introduced previously regarding the way the forces are composed along the needle during insertion; we will compare our model to those approaches in terms of accuracy. In order to conduct experiments to verify the deflection model, a custom-built, 2-DOF robotic system for needle insertion is developed and discussed. This system is a prototype of an intelligent, hand-held surgical assistant tool that incorporates the virtual sensor proposed in this paper.

Clinical Application of Insertion Force Sensor System for Coil Embolization of Intracranial Aneurysms

2017 ◽  
Vol 105 ◽  
pp. 857-863 ◽  
Author(s):  
Noriaki Matsubara ◽  
Shigeru Miyachi ◽  
Takashi Izumi ◽  
Hiroyuki Yamada ◽  
Naoki Marui ◽  
...  
Keyword(s):  
Clinical Application ◽  
Coil Embolization ◽  
Intracranial Aneurysms ◽  
Force Sensor ◽  
Sensor System ◽  
Insertion Force

Needle Insertion Control Method for Minimizing Both Deflection and Tissue Damage

2019 ◽  
Vol 04 (01) ◽  
pp. 1842005
Author(s):  
Ryosuke Tsumura ◽  
Yusuke Takishita ◽  
Hiroyasu Iwata
Keyword(s):  
Tissue Damage ◽  
Control Method ◽  
Axial Rotation ◽  
Needle Insertion ◽  
Experimental Results ◽  
Insertion Force ◽  
Tissue Sections ◽  
Needle Deflection ◽  
Hole Area ◽  
Insertion Method

Because fine needles can easily be deflected, accurate needle insertion is often difficult. Lower abdominal insertion is particularly difficult because of less imaging feedback; thus, an approach for allowing a straight insertion path by minimizing deflection is beneficial in cases of lower abdominal insertion. Although insertion with axial rotation can minimize deflection, the rotational insertion may cause tissue damage. Therefore, we established a novel insertion method for minimizing both deflection and tissue damage by combining rotation and vibration. Using layered tissues, we evaluated the effect of a combination of rotation and vibration in terms of deflection and tissue damage, which were measured by the insertion force and torque, and the area of the hole created by the needle using histological tissue sections to measure tissue damage. The experimental results demonstrated that insertion with unidirectional rotation is risky in terms of tissue wind-up, while insertion with bidirectional rotation can decrease deflection and avoid wind-up. We also found that insertion with vibration can decrease the insertion force and torque. Therefore, insertion with a combination of bidirectional rotation and vibration can minimize needle deflection and tissue damage, including the insertion force and torque and the hole area.

Influence of Composite Polymer Coatings on the Insertion Force of Needle-Like Structure in Soft Materials

2021 ◽  
Author(s):  
Kavi I Patel ◽  
Long Zhu ◽  
Sai Teja Reddy Gidde ◽  
Fei Ren ◽  
Parsaoran Hutapea
Keyword(s):  
Soft Materials ◽  
Polymer Coatings ◽  
Composite Polymer ◽  
Insertion Force
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