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Research on the Stability of Needle Insertion Force

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Wearable Sensors and Robots

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 399))

Abstract

The unstable needle insertion, contributing to imprecise insertion, can be reflected from insertion force stability. To improve the accuracy of needle-based intervention procedures and guide the investigation on needle steering technologies, a series of needle insertion experiments were performed on different soft tissues including single-layer PVA (Polyvinyl Alcohol) phantoms, multi-layer PVA phantoms and porcine livers. The effects of insertion velocities, tissue properties and tissue structures on insertion force stability were investigated. For mechanical noises in force data vary with interventional equipment, they were filtered before quantitative analysis of insertion force stability. The unit amplitude of insertion force was directly used to reflect the insertion stability. The results from both the single-layer PVA phantoms and porcine livers show that there is a critical velocity, under which the unit amplitude sharply decreases with the increase of velocity and above which it almost does not vary with velocity. In the actual application, insertion velocity above this critical value can be adopted to improve the insertion stability. The multi-layer PVA phantom tests show that the unit amplitude increases firstly and then decreases with the increase of PVA composition. By changing the direction of insertion into the same multi-layer PVA phantom, results indicate that both friction and cutting force can lead to unstable insertion.

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Acknowledgments

Project supported by the National Natural Science Foundation of China (No. 51165040) and the Natural Science Foundation of Qinghai Province (No. 2015-ZJ-906).

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Authors and Affiliations

  1. School of Mechanical Engineering, Qinghai University, Xining, 810016, China

    Qiang Li & De-dong Gao

  2. The State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, 310027, China

    De-dong Gao

Authors
  1. Qiang Li
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  2. De-dong Gao
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Correspondence to De-dong Gao .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China

    Canjun Yang

  2. University of Gävle, Gävle, Sweden

    G. S. Virk

  3. Zhejiang University, Department of Mechanical Engineering, Hangzhou, Zhejiang, China

    Huayong Yang

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© 2017 Zhejiang University Press and Springer Science+Business Media Singapore

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Li, Q., Gao, Dd. (2017). Research on the Stability of Needle Insertion Force. In: Yang, C., Virk, G., Yang, H. (eds) Wearable Sensors and Robots. Lecture Notes in Electrical Engineering, vol 399. Springer, Singapore. https://doi.org/10.1007/978-981-10-2404-7_23

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  • DOI: https://doi.org/10.1007/978-981-10-2404-7_23

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-2403-0

  • Online ISBN: 978-981-10-2404-7

  • eBook Packages: EngineeringEngineering (R0)

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