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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: [email protected].

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
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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.

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