Characterization of aortic tissue cutting process: experimental investigation using porcine ascending aorta

Understanding biomechanical responses during soft tissue cutting is important for developing surgical simulators and robot-assisted surgery with haptic feedback. The biomechanics involved in the aortic tissue cutting process is largely unknown. In this study, porcine ascending aorta was selected as a representative aortic tissue, and tissue cutting experiments were performed using a novel tissue cutting apparatus. The tissue cutting responses under various cutting conditions were investigated, including differing initial tissue lateral holding force and distance, cutting speed, cutter inclination angle, tissue anatomical orientation and thickness. The results from this study suggest that a "break-in" cutting force of about 4-12 N, a cutter "break-in" distance of 5-15 mm, and a continuous cutting force of 2-4 N were needed to cut through the porcine ascending aorta tissue. For all testing conditions investigated in this study, the cutting force vs. the cutter displacement curves exhibited similar characteristics. More importantly, this study demonstrated that tissue cutting involving one or more of the following conditions: a larger lateral holding force, a smaller lateral hold distance, a higher cutting speed or a larger inclination angle, could result in a smaller "break in" cutting force and a smaller "break-in" distance. In addition, it was found that the cutting force in the vessel longitudinal direction was larger than that in the circumferential direction. There was a strong correlation between the tissue thickness and the cutting force. The experimental results reported in this study could provide a basis for understanding the characteristic response of aortic tissue to scalpel cutting, and offer insight into the development of surgical simulators.