Abstract
Needle insertion for minimally-invasive surgery is a technique explored and studied for percutaneous procedure, diagnosis, localised therapeutic drug-delivery, and biopsy. While the instruments and techniques determine the success of every surgical procedure, minimal attention was given to the medium, interaction between tissue and needle, development tools and surgical techniques. This paper addresses the interaction by studying the needle deflection during insertion into porcine back tissue and simulated flesh-like tissue (gelatine). A customised testing set-up measures and quantifies these interactions. Needle deflection magnitude and insertion forces were measured and correlated to define the bio-mechanical properties of back abdomen tissue. Needle deflections were measured for gelatine analogues developed to model consistency of the tissues in the back lumbar region. Mathematical two-dimensional (2D) force-model was developed to provide understanding on the mechanics of needle insertion. This study was the first-step in developing a deflection feedback controlled surgical instrument in the needle-assisted percutaneous operation.
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