LABORATORY STUDY ON NEEDLE–TISSUE INTERACTION: TOWARDS THE DEVELOPMENT OF AN INSTRUMENT FOR AUTOMATIC VENIPUNCTURE

2007 ◽  
Vol 07 (03) ◽  
pp. 325-335 ◽  
Author(s):  
T. DE BOER ◽  
M. STEINBUCH ◽  
S. NEERKEN ◽  
A. KHARIN
Keyword(s):  
Laboratory Study ◽  
Medical Staff ◽  
Force Feedback ◽  
Needle Insertion ◽  
Insertion Force ◽  
Insertion Angle ◽  
Clinical Procedures ◽  
Single Approach ◽  
Prototype Instrument ◽  
Porcine Tissues

Although venipuncture is one of the most common clinical procedures and is performed by trained medical staff, difficulties arise in 5% of insertion procedures. An instrument that guarantees the insertion of a needle into a vein in a single approach is expected to be beneficial to both medical staff and patients. The next step towards automatic venipuncture is to determine if insertion force feedback can be used, irrespective of insertion speed, insertion angle, or vein depth and diameter. Needle insertion experiments are performed on phantom and porcine tissues to study the interaction between the needle and tissue. A prototype instrument is developed to perform automatic venipuncture on the phantom. From the experiments, we conclude that an increased insertion speed of the needle leads to an increase in insertion force and tissue deformation. Furthermore, distinct force peaks are observed at the penetration of phantom skin and vein, thus enabling automatic detection of phantom vein puncture.

Silicone-Based Tissue-Mimicking Phantom for Needle Insertion Simulation

2014 ◽  
Vol 8 (2) ◽  
Author(s):  
Yancheng Wang ◽  
Bruce L. Tai ◽  
Hongwei Yu ◽  
Albert J. Shih
Keyword(s):  
Mechanical Properties ◽  
Elastic Modulus ◽  
Medical Devices ◽  
Room Temperature ◽  
Needle Insertion ◽  
Mineral Oil ◽  
Medical Procedures ◽  
Insertion Force ◽  
Needle Insertion Force ◽  
Porcine Tissues

Silicone-based tissue-mimicking phantom is widely used as a surrogate of tissue for clinical simulators, allowing clinicians to practice medical procedures and researchers to study the performance of medical devices. This study investigates using the mineral oil in room-temperature vulcanizing silicone to create the desired mechanical properties and needle insertion characteristics of a tissue-mimicking phantom. Silicone samples mixed with 0, 20, 30, and 40 wt. % mineral oil were fabricated for indentation and needle insertion tests and compared to four types of porcine tissues (liver, muscle with the fiber perpendicular or parallel to the needle, and fat). The results demonstrated that the elastic modulus and needle insertion force of the phantom both decrease with an increasing concentration of mineral oil. Use of the mineral oil in silicone could effectively tailor the elastic modulus and needle insertion force to mimic the soft tissue. The silicone mixed with 40 wt. % mineral oil was found to be the best tissue-mimicking phantom and can be utilized for needle-based medical procedures.

Needle Insertion Force Model for Haptic Simulation

2015 ◽  
Author(s):  
Adam Gordon ◽  
Inki Kim ◽  
Andrew C. Barnett ◽  
Jason Z. Moore
Keyword(s):  
Force Feedback ◽  
Needle Insertion ◽  
Model Parameters ◽  
Force Model ◽  
Medical Procedures ◽  
Insertion Force ◽  
Clinical Scenarios ◽  
Needle Insertion Force ◽  
Haptic Simulation ◽  
Simulation Systems

Percutaneous medical procedures rely upon clinicians performing precise needle insertion in soft tissue. The utility of haptic simulation systems in training clinicians for these procedures is highly dependent upon the ability to render accurate insertion force feedback. This paper presents a piecewise mathematical model for insertion force that does not require tissue material properties, detailed mechanical approximations, or complex computations. With manipulation of model parameters, a wide variety of insertion tasks and clinical scenarios can be modeled. Through needle insertion experiments and parameter estimation, this model was demonstrated to replicate the insertion forces associated with a variety of needle and tissue types. In 11 of 12 needle and tissue combinations tested, the model replicated the insertion force with an average absolute mean error of less than 0.065 N.

scholarly journals Measurement of Syringe Needle Forces for a Haptic Robotic Training Device

2017 ◽  
Author(s):  
David Pepley ◽  
Mary Yovanoff ◽  
Katelin Mirkin ◽  
Scarlett Miller ◽  
David Han ◽  
...  
Keyword(s):  
Force Feedback ◽  
Haptic Feedback ◽  
Critical Role ◽  
Needle Insertion ◽  
Robotic Training ◽  
Insertion Force ◽  
Laparoscopic Simulator ◽  
Fresh Frozen ◽  
Needle Insertion Force ◽  
Robotic Simulator

Medical simulation plays a critical role in the training of surgical and medical residents. Training simulators give residents an environment to practice a wide variety of procedures where they can learn and make mistakes without harming a living patient [1]. In recent years, much research has been conducted on applying haptic or force feedback technology to surgical simulators in order to create more effective training devices [2]. Simulators such as the LapSim (laparoscopic simulator) and the PalpSim (palpitation needle insertion simulator) have both utilized haptic feedback arms to provide the physical sensation of performing surgical procedures to the user [3, 4]. The haptic simulator shown in Fig. 1 is currently in development. This virtual reality haptic robotic simulator for central venous catheterization (CVC) utilizes a haptic feedback arm to provide the feeling of a syringe being inserted into neck tissue [5]. Currently, there is little experimental data relating needle force to depth. To determine the forces necessary to program into the haptic robotic device, a force sensing syringe was developed and cadaver experiments were performed. This paper presents the development of a syringe which can accurately measure needle insertion force and the proceeding experiments conducted using this device on a fresh frozen cadaver. The results of these cadaver needle insertions are characterized into force profiles for needle insertion force that are implemented into the haptic based CVC simulator.

scholarly journals Introducing a Robotic Lumbar Puncture Simulator with Force Feedback: LP Simd

2020 ◽  
Author(s):  
Alireza Mirbagheri ◽  
Mohammadhasan Owlia ◽  
Mostafa Khabbazan ◽  
Mehdi Moradi ◽  
Fatemeh Mohandesi
Keyword(s):  
Virtual Reality ◽  
Lumbar Puncture ◽  
Force Feedback ◽  
Needle Insertion ◽  
Geometrical Model ◽  
Physical Models ◽  
Insertion Force ◽  
Lumbar Area ◽  
Sampling Procedures ◽  
Digital Training

Purpose: Lumbar Puncture (LP) is widely used for spinal and epidural anesthesia or Cerebrospinal fluid (CSF) sampling procedures. As this procedure is highly complicated and needs high experience to be performed correctly, it is necessary to teach this skill to the physicians. Considering the limitation of number of usage of rubber models and advantages of Virtual Reality (VR) environment for digital training of skills, we tried to investigate the capability of VR environment to train the LP procedures.with TLE. Materials and Methods: Geometrical model of the lumbar area of L2 to L5 are extracted from fusion of MR and CT imaging modalities. Also physical model of resistance of each layers against needle insertion at lumbar area are investigated through specially designed sensorized handle for LP needle and recorded from a 41-yearold female patient. Then geometrical and physical models of lumbar area are fused together and the Virtual Reality (VR) model of it, with insertion force rendering capability is extracted. Then the model is integrated with a haptic device and the complete VR environment is investigated. Results: In this work we introduced a robotic Lumbar Puncture Simulator (LP Sim) with force feedback which may be used for training the LP procedures .Using LP Sim, when the trainee insert the needle inside the lumbar area at the provided virtual reality environment, he/she may feel the insertion forces against his/her movement inside the lumbar area. Conclusion: The LP Sim is a virtual reality-enabled environment, with force feedback, that provides an appropriate framework for training this skill.

Characterization of Spinal Needle Buckling Behavior

2019 ◽  
Vol 13 (4) ◽  
Author(s):  
Tessa Hulburt ◽  
Jessica Booth ◽  
Peter Pan ◽  
Philip Brown
Keyword(s):  
Spinal Anesthesia ◽  
Force Feedback ◽  
Testing Machine ◽  
Needle Insertion ◽  
Laboratory Model ◽  
Insertion Force ◽  
Test Fixture ◽  
Critical Buckling Force ◽  
Fort Smith

Abstract The use of large gauge (G) spinal anesthesia needles can increase complications due to buckling. The purpose of this study was to quantify the behavior of spinal needles in buckling using a repeatable laboratory model. A spinal anesthesia procedure and buckling complication was reproduced in vitro using a custom test fixture designed to match the boundary conditions of needle insertion as performed by an anesthesiologist and a uniaxial servohydraulic material testing machine (MTS, Eden Prairie, MN). Buckling tests were performed with 22 G Whitacre (Medline Industries, Inc., Northfield IL), SPROTTE® (Pajunk, Norcross, GA), and Gertie Marx (International Medical Development, Huntsville, UT) needles (n = 30) in a ballistics gelatin tissue surrogate (Clear Ballistics, Fort Smith, AR). In analyzing axial force results, critical buckling load results were 27.65 ± 0.92 N, signifying that needle fragility is not why buckling is challenging to detect. Force feedback during needle insertion increased linearly due to frictional forces from the tissue surrogate on the needle. The differential between the resultant insertion force and the critical buckling force is more important to the detection of needle buckling than the critical buckling force alone. A very small difference in these two forces could feel like expected resistance increase as the needle is further inserted into the multiple tissue layers. Comparison of the differential between the resultant insertion force and the critical buckling force should be considered when choosing a needle to best detect and prevent a buckling complication.

Portable Abdominal Insufflation Device for Stopping Uncontrolled Abdominal Bleeding in Trauma Cases

2021 ◽  
Vol 42 ◽  
pp. 107-112
Author(s):  
Daniela Coman ◽  
Lucian Gheorghe Gruionu
Keyword(s):  
Abdominal Wall ◽  
Force Feedback ◽  
Needle Insertion ◽  
Veress Needle ◽  
Von Mises Stress ◽  
Vascular Lesions ◽  
Maximum Pressure ◽  
Insertion Force ◽  
Duration Of Surgery ◽  
Silicone Model

Needle insertion in biological tissue has attracted considerable attention due to its application in minimally invasive procedures such as laparoscopy or transcutaneous biopsy. In this paper the force of the Veress needle insertion into the abdominal wall and the von Mises stress were studied, demonstrating the ability of finite element models to provide additional understanding of the processes taking place. Veress needle insertion force may cause complications during surgery, the most common being vascular lesions, thus affecting the precision and duration of surgery assisted by a portable abdominal insufflation device. This study was the first step in developing a force feedback for needle insertion into the abdominal wall assisted by a portable abdominal insufflation device. The CAD model of the prototype of a portable abdominal insufflation device was made. Then the prototype of a portable abdominal insufflation device was developed. For testing purposes an artificial silicone model was made. The paper also includes the experimental results obtained by measuring the maximum pressure inside the artificial silicone model after the penetration of the wall.

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.

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