title: Experimental analysis of robot-assisted needle insertion into porcine liver.
abstract: 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.
authors.affiliation: School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an, Shaanxi, P.R. China.|Department of Mechanical & Industrial Engineering, University of Toronto, Toronto, ON, Canada.
authors.forename: Wendong
authors.initials: W
authors.lastname: Wang
authors.affiliation: School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an, Shaanxi, P.R. China.
authors.forename: Yikai
authors.initials: Y
authors.lastname: Shi
authors.affiliation: Department of Mechanical & Industrial Engineering, University of Toronto, Toronto, ON, Canada.
authors.forename: Andrew A
authors.initials: AA
authors.lastname: Goldenberg
authors.affiliation: School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an, Shaanxi, P.R. China.
authors.forename: Xiaoqing
authors.initials: X
authors.lastname: Yuan
authors.affiliation: School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an, Shaanxi, P.R. China.
authors.forename: Peng
authors.initials: P
authors.lastname: Zhang
authors.affiliation: School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an, Shaanxi, P.R. China.
authors.forename: Lijing
authors.initials: L
authors.lastname: He
authors.affiliation: School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an, Shaanxi, P.R. China.
authors.forename: Yingjie
authors.initials: Y
authors.lastname: Zou
mesh_terms: D000818:Animals; D055119:Elastic Modulus / Q000502:physiology; D017276:Friction; D006244:Hardness / Q000502:physiology; D066298:In Vitro Techniques; D008099:Liver / Q000502:physiology* / Q000601:surgery*; D009339:Needles; D011677:Punctures / Q000295:instrumentation* / Q000379:methods*; D065287:Robotic Surgical Procedures / Q000295:instrumentation / Q000379:methods*; D013314:Stress, Mechanical; D025321:Surgery, Computer-Assisted / Q000295:instrumentation / Q000379:methods; D013552:Swine
keywords: Robot-assisted system; insertion force; manual operation; needle insertion