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Modeling of Needle-Tissue Interaction Forces During Surgical Suturing
Russell C Jackson1, M Cenk Cavuşoğlu1
1The department of Electrical Engineering and Computer Science (EECS) at Case Western Reserve University in Cleveland, OH.
IEEE International Conference on Robotics and Automation : ICRA : [Proceedings]. IEEE International Conference on Robotics and Automation
|April 1, 2014
Summary
This study models surgical suture needle forces using lumped parameters, including friction, compression, and cutting. The model accurately predicts forces during suturing, validated experimentally.
Area of Science:
- Biomedical Engineering
- Surgical Robotics
- Biomechanics
Background:
- Surgical suturing involves complex needle-tissue interactions.
- Accurate modeling of these forces is crucial for robotic surgery and instrument design.
- Current models may not fully capture the dynamics of needle penetration.
Purpose of the Study:
- To develop a lumped parameter model for needle-tissue interaction forces during suturing.
- To incorporate friction, tissue compression, and cutting forces into a unified model.
- To validate the model's accuracy through experimental testing.
Main Methods:
- Modeled needle-tissue interaction forces as a sum of lumped parameters.
- Quantified tissue compression force based on the swept area during suturing.
- Approximated friction force as static friction along the needle shaft.
- Modeled cutting force acting at the needle tip.
- Experimentally validated the model using a tissue phantom.
Main Results:
- The proposed model accurately represents the forces and torques experienced by a suture needle.
- Tissue compression force estimation is linked to the needle's deviation from its natural curve.
- Friction and cutting forces are modeled as distinct components.
- Experimental validation confirmed the model's predictive capabilities.
Conclusions:
- The lumped parameter model provides an accurate representation of needle-tissue interaction forces.
- This model can aid in the design and control of surgical suturing systems.
- Further research can refine the model for diverse tissue types and needle geometries.
