Observations of needle-tissue interactions

Sarthak Misra, Kyle B. Reed, K.T. Ramesh, Allison M. Okamura

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    9 Citations (Scopus)
    19 Downloads (Pure)

    Abstract

    Needles with asymmetric bevel tips naturally bend when they are inserted into soft tissue. In this study, we present an analytical model for the loads developed at the bevel tip during needle-tissue interaction. The model calculates the loads based on the geometry of the bevel edge and gel material properties. The modeled transverse force developed at the tip is compared to forces measured experimentally. The analytical model explains the trends observed in the experiments. In addition to macroscopic studies, we also present microscopic observations of needle-tissue interactions. These results contribute to a mechanics-based model of robotic needle steering, extending previous work on kinematic models.
    Original languageEnglish
    Title of host publicationEMBC 2009
    Subtitle of host publicationProceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society
    Place of PublicationPiscataway, NJ
    PublisherIEEE Computer Society Press
    Pages262-265
    Number of pages4
    ISBN (Print)978-1-42443-296-7
    DOIs
    Publication statusPublished - 2 Sep 2009
    Event31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2009 - The Hilton Minneapolis, Minneapolis, United States
    Duration: 3 Sep 20096 Sep 2009
    Conference number: 31

    Conference

    Conference31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2009
    Abbreviated titleEMBC
    CountryUnited States
    CityMinneapolis
    Period3/09/096/09/09

    Keywords

    • METIS-268941
    • IR-71279
    • Medical robotics
    • Biological tissues
    • Biomechanics
    • needles
    • patient diagnosis
    • patient treatment
    • Physiological models
    • gels
    • EWI-17866

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  • Cite this

    Misra, S., Reed, K. B., Ramesh, K. T., & Okamura, A. M. (2009). Observations of needle-tissue interactions. In EMBC 2009: Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (pp. 262-265). Piscataway, NJ: IEEE Computer Society Press. https://doi.org/10.1109/IEMBS.2009.5332872