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ICRA
2009
IEEE

Fast needle insertion to minimize tissue deformation and damage

10 years 1 months ago
Fast needle insertion to minimize tissue deformation and damage
Abstract-- During needle-based procedures, transitions between tissue layers often involve puncture events that produce substantial deformation and tend to drive the needle off course. In this paper, we analyze the mechanics of these rupture events corresponding to unstable crack propagation during the insertion of a sharp needle in an inhomogeneous tissue. The force-deflection curve of the needle prior to a rupture event is modeled by a nonlinear viscoelastic Kelvin model and a stress analysis is used to predict the relationship between rupture force and needle velocity. The model predicts that the force-deflection response of the needle is steeper and the tissue absorbs less energy when the needle moves faster. The force of rupture also decreases for faster insertion under certain conditions. The observed properties are sufficient to show that maximizing needle velocity minimizes tissue deformation and damage, and consequently, results in less needle insertion position error. The mod...
Mohsen Mahvash, Pierre E. Dupont
Added 19 Feb 2011
Updated 19 Feb 2011
Type Journal
Year 2009
Where ICRA
Authors Mohsen Mahvash, Pierre E. Dupont
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