RESUMEN
Quantitative estimation of soft tissue injuries due to penetration of sharp objects is a challenging task for forensic pathologists. The severity of injury depends on the force required to penetrate the tissue. This study focuses on investigating the amount of force required to penetrate porcine muscle tissue and gelatin simulants (10â¯% wt) to mimic human muscle tissue when subjected to sharp objects like nail at velocities below 5â¯m/s. A custom-made experimental setup was used to examine the influence of penetration velocity and nail diameter on penetration forces. Images captured by a high-speed camera were used to track the position and velocity of the nail. A finite element (FE) model was established to simulate the penetration behavior of the tissue and gelatin. The FE simulations of the nail penetration were validated through direct comparison with the experimental results. In tissues as well as in the simulant, penetration forces were seen to increase with increasing nail diameter and velocity. Porcine muscle tissue showed 23.9-46.5â¯% higher penetration forces than gelatin simulants (10â¯% wt) depending on nail diameter and velocity; the difference being higher for higher nail diameter and velocity. The ranges of maximum penetration forces measured were 8.6-59.1â¯N for porcine muscle tissue and 6.8-34.9â¯N for gelatin simulant. This study helps to quantify injuries caused by sharp nails at low velocities and offers insights with potential applications in injury management strategies and forensic studies.
Asunto(s)
Análisis de Elementos Finitos , Gelatina , Uñas , Porcinos , Animales , Uñas/química , Músculo Esquelético/lesiones , Modelos Animales , Modelos Biológicos , Humanos , Fenómenos BiomecánicosRESUMEN
Automobile crashes and blunt trauma often lead to life-threatening thoracic injuries, especially to the lung tissues. These injuries can be simulated using finite element-based human body models that need dynamic material properties of lung tissue. The strain-rate-dependent material parameters of human parenchymal tissues were determined in this study using uniaxial quasi-static (1 mm/s) and dynamic (1.6, 3, and 5 m/s) compression tests. A bilinear material model was used to capture the nonlinear behavior of the lung tissue, which was implemented using a user-defined material in LS-DYNA. Inverse mapping using genetic algorithm-based optimization of all experimental data with the corresponding FE models yielded a set of strain-rate-dependent material parameters. The bilinear material parameters are obtained for the strain rates of 0.1, 100, 300, and 500 s-1. The estimated elastic modulus increased from 43 to 153 kPa, while the toe strain reduced from 0.39 to 0.29 when the strain rate was increased from 0.1 to 500 s-1. The optimized bilinear material properties of parenchymal tissue exhibit a piecewise linear relationship with the strain rate.
Asunto(s)
Pulmón , Tejido Parenquimatoso , Humanos , Estrés Mecánico , Análisis de Elementos Finitos , Módulo de Elasticidad , Modelos BiológicosRESUMEN
Trans-rectal ultrasound-guided needle biopsy is a well-established diagnosis technique for prostate cancer. To enhance the needle manoeuvring skills under ultrasound (US) guidance, it is preferable to train medical practitioners in needle biopsy on tissue-mimicking phantoms. This phantom should mimic the morphology as well as mechanical and acoustic properties of the human male pelvic region to provide a surgical experience and feedback. In this study, polyvinyl alcohol (PVA) was used and evaluated for prostate phantom development, that is stiffness tunable, US-compatible and durable phantom material. Three samples, each with 5%, 10%, and 15% concentration of PVA material, were prepared, and their mechanical and shrinkage characteristics were investigated. The anatomy of male pelvic region was used to develop an anatomically correct phantom. Later US-guided needle biopsy was performed on the phantom. The range of elastic moduli of the PVA samples was 2â¼146 kPa. Their elastic moduli and volumes were found to remain statistically close from seventh to eighth freeze-thaw cycle (p>0.05). Initial US scans of the phantom resulted in satisfactory B-mode images, with a clear distinction between the prostate and its surrounding organs. This study demonstrated the applicability of PVA hydrogel as a phantom material for training in US-guided needle biopsy.
Asunto(s)
Alcohol Polivinílico , Neoplasias de la Próstata , Biopsia con Aguja , Humanos , Masculino , Fantasmas de Imagen , Próstata/diagnóstico por imagen , Neoplasias de la Próstata/diagnóstico por imagen , UltrasonografíaRESUMEN
This study presents a polyacrylamide gel as a phantom material for needle insertion studies specifically developed for self-actuating needles to enhance the precise placement of needles in prostate. Bending of these self-actuating needles within tissue is achieved by Nitinol actuators attached to the needle body; however these actuators usually involve heating that can thermally damage the tissue surrounding the needles. Therefore, to develop and access feasibility of these needles, a polyacrylamide gel has been developed that mimics the thermal damage and mechanical properties of prostate tissue. Mechanical properties of the polyacrylamide gel was controlled by varying the concentrations of acrylamide monomer and N,N-methylene-bisacrylamide (BIS) cross-linker, and thermal sensitivity was achieved by adding bovine serum albumin (BSA) protein. Two polyacrylamide gels with different concentrations were developed to mimic the elastic modulus of the tissue. The two phantoms showed different rupture toughness and different deflection of bevel-tip needle. To study the thermal damage, a Nitinol wire was embedded in the phantom and resistively heated. The measured opaque zone (0.40mm) formed around the wire was close to the estimated damage zone (0.43mm) determined using the cumulative equivalent minutes at 43°C.
Asunto(s)
Resinas Acrílicas , Agujas , Fantasmas de Imagen , Próstata/citología , Resinas Acrílicas/química , Animales , Bovinos , Módulo de Elasticidad , Estudios de Factibilidad , Masculino , Albúmina Sérica Bovina/química , TemperaturaRESUMEN
Active needles are recently being developed to improve steerability and placement accuracy for various medical applications. These active needles can bend during insertion by actuators attached to their bodies. The bending of active needles enables them to be steered away from the critical organs on the way to target and accurately reach target locations previously unachievable with conventional rigid needles. These active needles combined with an asymmetric bevel-tip can further improve their steerability. To optimize the design and to develop accurate path planning and control algorithms, there is a need to develop a tissue-needle interaction model. This work presents an energy-based model that predicts needle deflection of active bevel-tipped needles when inserted into the tissue. This current model was based on an existing energy-based model for bevel-tipped needles, to which work of actuation was included in calculating the system energy. The developed model was validated with needle insertion experiments with a phantom material. The model predicts needle deflection reasonably for higher diameter needles (11.6% error), whereas largest error was observed for the smallest needle diameter (24.7% error).
Asunto(s)
Fenómenos Mecánicos , Modelos Teóricos , Agujas , Elasticidad , Análisis de Elementos Finitos , Cloruro de Polivinilo , AceroRESUMEN
This paper deals with the development of a coordinated control system for a robot and robot-driven shape memory alloy (SMA) actuated needle to follow a curvilinear path for percutaneous intervention. The robot driving the needle is considered as the outer loop and the non-linear SMA actuated flexible needle system forms the inner loop. The two feedback control loops are coordinated in such a way that the robot drives the needle considering the needle's actual deflection so that the needle tip reaches the target location with an acceptable accuracy. Simulation results are presented to verify the efficacy of the controller for tracking the overall desired trajectory which includes the combined trajectory of the robot and the needle.
Asunto(s)
Aleaciones/química , Braquiterapia/instrumentación , Próstata/efectos de la radiación , Robótica/instrumentación , Humanos , Masculino , AgujasRESUMEN
In robot-assisted needle-based medical procedures, path planning for a flexible needle is challenging with regard to time consumption and searching robustness for the solution due to the nonholonomic motion of the needle tip and the presence of anatomic obstacles and sensitive organs in the intended needle path. We propose a novel and fast path planning algorithm for a robot-assisted active flexible needle. The algorithm is based on Rapidly-Exploring Random Trees combined with reachability-guided strategy and greedy heuristic strategy. Linear segments are taken into consideration to the paths, and insertion orientations are relaxed by the introduction of the linear segments. The proposed algorithm yields superior results as compared to the commonly used algorithm in terms of computational speed, form of path and robustness of searching ability, which potentially can make it suitable for the real-time intraoperative planning for clinical procedures.