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Effects of Rotational Motion in Robotic Needle Insertion
BACKGROUND: Robotic needle insertion in biological tissues has been known as one the most applicable procedures in sampling, robotic injection and different medical therapies and operations. OBJECTIVE: In this paper, we would like to investigate the effects of angular velocity in soft tissue inserti...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Shiraz University of Medical Sciences
2015
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4681466/ https://www.ncbi.nlm.nih.gov/pubmed/26688800 |
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author | Ramezanpour, H. Yousefi, H. Rezaei, M. Rostami, M. |
author_facet | Ramezanpour, H. Yousefi, H. Rezaei, M. Rostami, M. |
author_sort | Ramezanpour, H. |
collection | PubMed |
description | BACKGROUND: Robotic needle insertion in biological tissues has been known as one the most applicable procedures in sampling, robotic injection and different medical therapies and operations. OBJECTIVE: In this paper, we would like to investigate the effects of angular velocity in soft tissue insertion procedure by considering force-displacement diagram. Non-homogenous camel liver can be exploited as a tissue sample under standard compression test with Zwick/Roell device employing 1-D axial load-cell. METHODS: Effects of rotational motion were studied by running needle insertion experiments in 5, 50 and 200 mm/min in two types of with or without rotational velocity of 50, 150 and 300 rpm. On further steps with deeper penetrations, friction force of the insertion procedure in needle shaft was acquired by a definite thickness of the tissue. RESULTS: Designed mechanism of fixture for providing different frequencies of rotational motion is available in this work. Results for comparison of different force graphs were also provided. CONCLUSION: Derived force-displacement graphs showed a significant difference between two procedures; however, tissue bleeding and disorganized micro-structure would be among unavoidable results. |
format | Online Article Text |
id | pubmed-4681466 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2015 |
publisher | Shiraz University of Medical Sciences |
record_format | MEDLINE/PubMed |
spelling | pubmed-46814662015-12-18 Effects of Rotational Motion in Robotic Needle Insertion Ramezanpour, H. Yousefi, H. Rezaei, M. Rostami, M. J Biomed Phys Eng Original Article BACKGROUND: Robotic needle insertion in biological tissues has been known as one the most applicable procedures in sampling, robotic injection and different medical therapies and operations. OBJECTIVE: In this paper, we would like to investigate the effects of angular velocity in soft tissue insertion procedure by considering force-displacement diagram. Non-homogenous camel liver can be exploited as a tissue sample under standard compression test with Zwick/Roell device employing 1-D axial load-cell. METHODS: Effects of rotational motion were studied by running needle insertion experiments in 5, 50 and 200 mm/min in two types of with or without rotational velocity of 50, 150 and 300 rpm. On further steps with deeper penetrations, friction force of the insertion procedure in needle shaft was acquired by a definite thickness of the tissue. RESULTS: Designed mechanism of fixture for providing different frequencies of rotational motion is available in this work. Results for comparison of different force graphs were also provided. CONCLUSION: Derived force-displacement graphs showed a significant difference between two procedures; however, tissue bleeding and disorganized micro-structure would be among unavoidable results. Shiraz University of Medical Sciences 2015-12-01 /pmc/articles/PMC4681466/ /pubmed/26688800 Text en © 2015: Journal of Biomedical Physics and Engineering This is an Open Access article distributed under the terms of the Creative Commons Attribution-NonCommercial 3.0 Unported License (http://creativecommons.org/licenses/by/3.0/), which permits unrestricted use, distribution and reproduction in any medium, provided the original work is properly cited. |
spellingShingle | Original Article Ramezanpour, H. Yousefi, H. Rezaei, M. Rostami, M. Effects of Rotational Motion in Robotic Needle Insertion |
title | Effects of Rotational Motion in Robotic Needle Insertion |
title_full | Effects of Rotational Motion in Robotic Needle Insertion |
title_fullStr | Effects of Rotational Motion in Robotic Needle Insertion |
title_full_unstemmed | Effects of Rotational Motion in Robotic Needle Insertion |
title_short | Effects of Rotational Motion in Robotic Needle Insertion |
title_sort | effects of rotational motion in robotic needle insertion |
topic | Original Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4681466/ https://www.ncbi.nlm.nih.gov/pubmed/26688800 |
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