Needle Insertion Speed Research Articles

An acupuncture manipulation classification system based on three-axis attitude sensor and computer vision.

To explore the action characteristics of acupuncture manipulations by combining visual and sensor technique, so as to improve the identification and classification accuracy of acupuncture manipulations and to quantificate the classifiations. In this paper, the time domain features of acupuncture physical parameters and dynamic gesture features in the video of acupuncture manipulations are combined together to identify and classify acupuncture techniques. The acupuncture needle manipulation processes of 2 acupuncture experts and 3 young acupuncturists were selected as the study objects. The collected data included 4 basic manipulation techniques：lifting-thrusting reinforcing, lifting- thrusting reducing, twisting reinforcing and twisting reducing methods, all of which were performed by right-handed doctors. During acupuncture manipulation, a three-axis attitude sensor was used to acquire finger moving acceleration velocity and needle-rotating angle velocity, followed by analyzing the parameters of hand-moving velocity, amplitude, strength and angle. The mapping relationship among physical parameters and different manipulating methods was formed in time domain. The computer vision technology was employed to extract the spatio-temporal features of the acupuncture manipulation video images, and a hybrid model of three-dimensional convolutional neural network (3D CNN) and long- and short-term memory (LSTM) neural network were used for the recognition and classification of dynamic gestures of hand in acupuncture manipulation videos. Then the time-domain features of physical parameters were combined with the dynamic gestures in the classification process, with the manipulation classification realized. In performing the lift-thrusting reinforcing method, the needle insertion speed was faster and the force was larger, while the needle lifting speed was slower and the force was smaller. And in performing the lift-thrusting reducing method, the needle lifting speed was faster, the force was stronger, and the needle insertion speed was slower and the force was smaller. In the performance of twisting reinforcing, the leftward twisting force was bigger and the rotation amplitude was larger, while in performing the reducing method, the rightward twisting force was larger and the rotation amplitude was larger. When using the mean value of time of acceleration, speed, and amplitude as the basis of discrimination, the accuracy rates of lifting-thrusting reinforcing and reducing were 95.56% and 93.33%, while those of the two twisting manipulations were 95.56% and 91.11%, respectively. Compared with the classification method that only uses the sensor to obtain the manipulation information, the recognition accuracy was significantly improved. The acupuncture manipulation classification system can achieve quantitative analysis of physical parameters and dynamic recognition of acupuncture techniques, providing a certain foundation for the quantification and inheritance of acupuncture techniques.

Study and experimental investigation of insertion force modeling and tissue deformation phenomenon during surgical needle-soft tissue interaction

Surgical needle insertion is generally used in the current advanced surgery process, particularly in the area of biopsy, MIS or minimally invasive surgery, brachytherapy, etc. During the needle insertion performance into the soft tissue, one of the most important issues is the tissue deformation that affects the needle engagement inside the tissue material. We have presented an energy-based insertion model, and the conical shape of deformed tissue is assumed. The tests are performed on PVA gel samples, and the model is analyzed to determine the tissue deformation volume during needle insertion into soft tissue. The procedures for evaluating the puncture force which creates the deformation of the contact point. With the help of the needle insertion experimental investigation, a geometric model of tissue deformation phenomenon and insertion force was investigated. The active needle-soft tissue contacts are studied, and with the help of the energy-based insertion model, the different factors like strain energy, potential, and dissipated energies are investigated. The tests are completed on the tissue mimic PVA gel samples, and the results show the volume and area of tissue deformation; at the time of initial needle insertion, the maximum tissue deformation arises and during the needle movement in the post-perforation stage, the deformation gradually decreases as the more peripheral work is altered into the vicious and degenerate energies. The maximum insertion force was noticed in 14° bevel angle needle tip and at 3 mm/s needle insertion speed, the volume of tissue deformation was maximum. The maximum deformation of the issue arises at the initial perforate position, and the distortion reduces along with the raises of the needle movement during the post-insertion period as the needle insertion work is converted into vicious and dissolute energies.

The effect of skin tension, needle diameter and insertion velocity on the fracture properties of porcine tissue

Using metal needles to penetrate skin tissue is common in medical treatments for the delivery of medication or minimally invasive surgery. In most applications the fracture properties of skin tissue is not important as the human surgeon has full control over the needle. Given that robotically controlled surgeries and self applied medical devices have become increasingly popular, a better understanding of the fracture properties and how to mathematically model the fracture process is needed. Experiments measuring the force required to fracture porcine skin tissue were done while varying the applied skin tension, needle insertion speed and needle diameter. The applied skin tension was found to have the greatest influence on the fracture properties, while the insertion speed was found to have a negligible impact. The variance in experimental results was not well explained by the three independent variables alone, suggesting that additional parameters influence the fracture process.

A computational approach to investigate optimal cutting speed configurations in rotational needle biopsy cutting soft tissue

The rotational cutting method has been used in needle biopsy technologies to sample tough tissues, such as calcifications in the breast. The rotational motion of the needle introduces shear forces to the cutting surface such that the cutting force in the axial direction is reduced. As a result, tissue samples with large volume and better quality can be obtained. In order to comprehensively understand the effect of the needle rotation to the axial cutting force under a wide range of the needle insertion speed, this paper demonstrates a computational approach that incorporates the surface-based cohesive behavior to simulate a rotating needle cutting soft tissue. The computational model is validated by comparing with a cutting test dataset reported in the literature. The validated model is then used to generate response surfaces of the axial cutting force and torque in a large parameter space of needle rotation and insertion speeds. The results provide guidelines for selecting optimal speed configurations under different design situations.

Preclinical development of an automated injection device for intradermal delivery of a cell-based therapy

Current methods for intradermal delivery of therapeutic products in clinical use include manual injection via the Mantoux technique and the use of injection devices, primarily developed for the delivery of vaccines and small molecules. A novel automated injection device is presented specifically designed for accurate delivery of multiple doses of product through a number of adjustable injection parameters, including injection depth, dose volume and needle insertion speed. The device was originally conceived for the delivery of a cell-based therapy to patients with skin wounds caused by epidermolysis bullosa. A series of preclinical studies was conducted (i) to evaluate the performance of the pre-production model (PreCTCDV01) and optimise the final design, (ii) to confirm that a cell therapy product can be effectively delivered through the injection system and (iii) to test whether the device can be safely and effectively operated by potential end-users. Results from these studies confirmed that the device is able to consistently deliver repeated doses of a liquid to the intradermal layer in an ex vivo skin model. In addition, the device can support delivery of a cell therapy product through a customised microbore tubing without compromising cell viability. Finally, the device was shown to be safe and easy to use as evidenced by usability testing. The clinical device has since been granted European market access and plans for clinical use are currently underway. The device is expected to find use in the emerging area of cell therapies and a broad spectrum of traditional parenteral drug delivery applications.

Choice of handedness and automated suturing for anthropomorphic dual-arm surgical robots

SUMMARYLaparoscopic and Single Port Access Surgery (SPAS) present unique dexterity challenges related to dual-arm operations in confined spaces and tele-manipulation of highly dexterous surgical slaves. In an effort to reduce tele-manipulation burden, new paradigms for semi-automating surgical tasks are needed. This paper presents a new minimal constraint suturing and automated choice of handedness for anthropomorphic dual-arm robots. The automated choice of handedness supports surgeons during tele-manipulation of complex robotic slaves where dexterity and workspace constraints are difficult to learn. This criterion is also used to support automated dual-arm rendezvous for quicker suture exchange during dual-arm suturing. The minimal constraint algorithm presented in this paper allows surgeons to operate within a shared-control tele-manipulation framework whereby the surgeon controls the needle insertion speed and the robot controls the needle orientation while respecting a minimalistic set of tissue constraints. This framework is evaluated on a novel insertable robotic end-effectors platform for SPAS. A simulation study demonstrates the effectiveness of the automated choice of handedness criterion through a study of dexterity limitations of each arm. Additional simulations show the proposed algorithm for automated rendezvous and suture exchange.

Effect of needle insertion speed on tissue injury, stress, and backflow distribution for convection-enhanced delivery in the rat brain.

Flow back along a needle track (backflow) can be a problem during direct infusion, e.g. convection-enhanced delivery (CED), of drugs into soft tissues such as brain. In this study, the effect of needle insertion speed on local tissue injury and backflow was evaluated in vivo in the rat brain. Needles were introduced at three insertion speeds (0.2, 2, and 10 mm/s) followed by CED of Evans blue albumin (EBA) tracer. Holes left in tissue slices were used to reconstruct penetration damage. These measurements were also input into a hyperelastic model to estimate radial stress at the needle-tissue interface (pre-stress) before infusion. Fast insertion speeds were found to produce more tissue bleeding and disruption; average hole area at 10 mm/s was 1.87-fold the area at 0.2 mm/s. Hole measurements also differed at two fixation time points after needle retraction, 10 and 25 min, indicating that pre-stresses are influenced by time-dependent tissue swelling. Calculated pre-stresses were compressive (0 to 485 Pa) and varied along the length of the needle with smaller average values within white matter (116 Pa) than gray matter (301 Pa) regions. Average pre-stress at 0.2 mm/s (351.7 Pa) was calculated to be 1.46-fold the value at 10 mm/s. For CED backflow experiments (0.5, 1, and 2 µL/min), measured EBA backflow increased as much as 2.46-fold between 10 and 0.2 mm/s insertion speeds. Thus, insertion rate-dependent damage and changes in pre-stress were found to directly contribute to the extent of backflow, with slower insertion resulting in less damage and improved targeting.

Needle deflection estimation: prostate brachytherapy phantom experiments

The performance of a fusion-based needle deflection estimation method was experimentally evaluated using prostate brachytherapy phantoms. The accuracy of the needle deflection estimation was determined. The robustness of the approach with variations in needle insertion speed and soft tissue biomechanical properties was investigated. A needle deflection estimation method was developed to determine the amount of needle bending during insertion into deformable tissue by combining a kinematic deflection model with measurements taken from two electromagnetic trackers placed at the tip and the base of the needle. Experimental verification of this method for use in prostate brachytherapy needle insertion procedures was performed. A total of 21 beveled tip, 18 ga, 200 mm needles were manually inserted at various speeds through a template and toward different targets distributed within 3 soft tissue mimicking polyvinyl chloride prostate phantoms of varying stiffness. The tracked positions of both the needle tip and base were recorded, and Kalman filters were applied to fuse the sensory information. The estimation results were validated using ground truth obtained from fluoroscopy images. The manual insertion speed ranged from 8 to 34 mm/s, needle deflection ranged from 5 to 8 mm at an insertion depth of 76 mm, and the elastic modulus of the soft tissue ranged from 50 to 150 kPa. The accuracy and robustness of the estimation method were verified within these ranges. When compared to purely model-based estimation, we observed a reduction in needle tip position estimation error by [Formula: see text] % (mean [Formula: see text] SD) and the cumulative deflection error by [Formula: see text] %. Fusion of electromagnetic sensors demonstrated significant improvement in estimating needle deflection compared to model-based methods. The method has potential clinical applicability in the guidance of needle placement medical interventions, particularly prostate brachytherapy.

Novel Pneumatic Device for High Speed Needle Insertion in Brachytherapy

Novel Pneumatic Device for High Speed Needle Insertion in Brachytherapy

Needle insertion force exerted on various breast tissues: Experimental study and finite element analysis

Purpose In this study, we measured the needle insertion force exerted on various breast tissues including those of a breast phantom, cattle tissue, and human tissue, according to needle insertion speed, and compared it using finite element analysis.

Influence of Needle Insertion Speed on Backflow for Convection-Enhanced Delivery

Fluid flow back along the outer surface of a needle (backflow) can be a significant problem during the direct infusion of drugs into brain tissues for procedures such as convection-enhanced delivery (CED). This study evaluates the effects of needle insertion speed (0.2 and 1.8 mm/s) as well as needle diameter and flow rate on the extent of backflow and local damage to surrounding tissues. Infusion experiments were conducted on a transparent tissue phantom, 0.6% (w/v) agarose hydrogel, to visualize backflow. Needle insertion experiments were also performed to evaluate local damage at the needle tip and to back out the prestress in the surrounding media for speed conditions where localized damage was not excessive. Prestress values were then used in an analytical model of backflow. At the higher insertion speed (1.8 mm/s), local insertion damage was found to be reduced and backflow was decreased. The compressive prestress at the needle-tissue interface was estimated to be approximately constant (0.812 kPa), and backflow distances were similar regardless of needle gauge (22, 26, and 32 gauge). The analytical model underestimated backflow distances at low infusion flow rates and overestimated backflow at higher flow rates. At the lower insertion speed (0.2 mm/s), significant backflow was measured. This corresponded to an observed accumulation of material at the needle tip which produced a gap between the needle and the surrounding media. Local tissue damage was also evaluated in excised rat brain tissues, and insertion tests show similar rate-dependent accumulation of tissue at the needle tip at the lower insertion speed. These results indicate that local tissue damage and backflow may be avoided by using an appropriate insertion speed.

Effects of insertion speed and trocar stiffness on the accuracy of needle position for brachytherapy

In prostate brachytherapy, accurate positioning of the needle tip to place radioactive seeds at its target site is critical for successful radiation treatment. During the procedure, needle deflection leads to seed misplacement and suboptimal radiation dose to cancerous cells. In practice, radiation oncologists commonly use high-speed hand needle insertion to minimize displacement of the prostate as well as the needle deflection. Effects of speed during needle insertion and stiffness of trocar (a solid rod inside the hollow cannula) on needle deflection are studied. Needle insertion experiments into phantom were performed using a 2(2) factorial design (2 parameters at 2 levels), with each condition having replicates. Analysis of the deflection data included calculating the average, standard deviation, and analysis of variance (ANOVA) to find significant single and two-way interaction factors. The stiffer tungsten carbide trocar is effective in reducing the average and standard deviation of needle deflection. The fast insertion speed together with the stiffer trocar generated the smallest average and standard deviation for needle deflection for almost all cases. The combination of stiff tungsten carbide trocar and fast needle insertion speed are important to decreasing needle deflection. The knowledge gained from this study can be used to improve the accuracy of needle insertion during brachytherapy procedures.

Precision grid and hand motion for accurate needle insertion in brachytherapy

In prostate brachytherapy, a grid is used to guide a needle tip toward a preplanned location within the tissue. During insertion, the needle deflects en route resulting in target misplacement. In this paper, 18-gauge needle insertion experiments into phantom were performed to test effects of three parameters, which include the clearance between the grid hole and needle, the thickness of the grid, and the needle insertion speed. Measurement apparatus that consisted of two datum surfaces and digital depth gauge was developed to quantify needle deflections. The gauge repeatability and reproducibility (GR&R) test was performed on the measurement apparatus, and it proved to be capable of measuring a 2 mm tolerance from the target. Replicated experiments were performed on a 2(3) factorial design (three parameters at two levels) and analysis included averages and standard deviation along with an analysis of variance (ANOVA) to find significant single and two-way interaction factors. Results showed that grid with tight clearance hole and slow needle speed increased precision and accuracy of needle insertion. The tight grid was vital to enhance precision and accuracy of needle insertion for both slow and fast insertion speed; additionally, at slow speed the tight, thick grid improved needle precision and accuracy. In summary, the tight grid is important, regardless of speed. The grid design, which shows the capability to reduce the needle deflection in brachytherapy procedures, can potentially be implemented in the brachytherapy procedure.

Effect of Needle Size and Type, Reuse of Needles, Insertion Speed, and Removal of Hair on Contamination of Joints with Tissue Debris and Hair after Arthrocentesis

To assess joint contamination with tissue and hair after arthrocentesis of equine fetlock joints. Experimental. Limb specimens from 8 equine cadavers. Soft tissues including the joint capsule were harvested from the dorsal aspect of the fetlock joints and mounted on a wooden frame. Needles inserted through the joint tissue preparation were flushed into tissue culture plates that were examined for tissue and hair debris. Variables evaluated were gauge and type of needle (16, 18, 20, and 22 G sharp disposable needles and 20 G disposable spinal needles with stylet), number of times each needle was used (1, 2, 3, 4), length of hair (unclipped, clipped, shaved with razor), and needle insertion speed (fast, slow). Descriptive and statistical evaluations were performed. Tissue contamination was identified in 1145 of 1260 wells and hair contamination was identified in 384 of 1260 wells. Twenty gauge needles inserted through unclipped hair resulted in the least amount of hair contamination. Compared with 20 G needles with fast insertion 1 time through unclipped hair the odds ratios for contamination with hair were significantly greater for 16 G sharp disposable needles, 20 G spinal needles, clipped hair, shaved hair, and reuse of the needles. Spinal needles inserted through unclipped hair transferred many long hairs into the joint space. Reuse of needles for arthrocentesis should be avoided. Removal of hair is not indicated for arthrocentesis with sharp injection needles but is recommended when using spinal needles with stylets. Joint contamination with hair and tissue debris will be decreased by specific needle insertion techniques. Decreased contamination of joints may reduce the frequency of joint infections after arthrocentesis.