Effects of velocity modulation during surgical needle insertion

Area of Science:

• Medical Engineering
• Robotics
• Biomechanics

Background:

• Precise interstitial interventions are vital for medical diagnostics and therapies.
• Accurate surgical needle insertion and placement in soft tissues present significant challenges.
• Understanding needle-tissue interaction is key to developing advanced medical devices and improving treatment delivery.

Purpose of the Study:

• To investigate the effects of modulated velocity (linear, rotational, oscillatory) on needle force and target deflection during insertion.
• To determine the optimal insertion technique for minimizing tissue movement and applied force.

Main Methods:

• Experimental verification of insertion techniques with varying velocities.
• Measurement of needle force and target deflection under different modulation conditions.
• Analysis of continuous rotation versus rotational oscillation effects on needle insertion dynamics.

Main Results:

• Needle insertion utilizing continuous rotation significantly reduces both target movement and needle force.
• Rotational oscillation, particularly at lower frequencies, showed minimal impact on force and target deflection.
• Continuous rotation emerges as a superior method for minimizing disruption during needle insertion.

Conclusions:

• Continuous rotation is an effective strategy for enhancing precision in surgical needle insertion.
• Modulating needle velocity, specifically with continuous rotation, can overcome challenges in soft tissue intervention.
• This research provides foundational insights for designing next-generation tools for minimally invasive procedures.