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On the flexible needle insertion into the human liver
In the present research, the navigation of a flexible needle into the human liver in the context of the robotic-assisted intraoperative treatment of the liver tumors, is reported. Cosserat (micropolar) elasticity is applied to describe the interaction between the needle and the human liver. The theo...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Nature Publishing Group UK
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8119694/ https://www.ncbi.nlm.nih.gov/pubmed/33986330 http://dx.doi.org/10.1038/s41598-021-89479-8 |
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author | Chiroiu, Veturia Nedelcu, Nicoleta Pisla, Doina Munteanu, Ligia Rugină, Cristian |
author_facet | Chiroiu, Veturia Nedelcu, Nicoleta Pisla, Doina Munteanu, Ligia Rugină, Cristian |
author_sort | Chiroiu, Veturia |
collection | PubMed |
description | In the present research, the navigation of a flexible needle into the human liver in the context of the robotic-assisted intraoperative treatment of the liver tumors, is reported. Cosserat (micropolar) elasticity is applied to describe the interaction between the needle and the human liver. The theory incorporates the local rotation of points and the couple stress (a torque per unit area) as well as the force stress (force per unit area) representing the chiral features of the human liver. To predict the deformation of the needle and the liver, the elastic properties of the human liver have been evaluated. Outcomes reveal that considering smaller deformations of the needle and the liver results in better needle navigation mechanism. The needle geometry can enhance the penetration. |
format | Online Article Text |
id | pubmed-8119694 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | Nature Publishing Group UK |
record_format | MEDLINE/PubMed |
spelling | pubmed-81196942021-05-17 On the flexible needle insertion into the human liver Chiroiu, Veturia Nedelcu, Nicoleta Pisla, Doina Munteanu, Ligia Rugină, Cristian Sci Rep Article In the present research, the navigation of a flexible needle into the human liver in the context of the robotic-assisted intraoperative treatment of the liver tumors, is reported. Cosserat (micropolar) elasticity is applied to describe the interaction between the needle and the human liver. The theory incorporates the local rotation of points and the couple stress (a torque per unit area) as well as the force stress (force per unit area) representing the chiral features of the human liver. To predict the deformation of the needle and the liver, the elastic properties of the human liver have been evaluated. Outcomes reveal that considering smaller deformations of the needle and the liver results in better needle navigation mechanism. The needle geometry can enhance the penetration. Nature Publishing Group UK 2021-05-13 /pmc/articles/PMC8119694/ /pubmed/33986330 http://dx.doi.org/10.1038/s41598-021-89479-8 Text en © The Author(s) 2021 https://creativecommons.org/licenses/by/4.0/Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/ (https://creativecommons.org/licenses/by/4.0/) . |
spellingShingle | Article Chiroiu, Veturia Nedelcu, Nicoleta Pisla, Doina Munteanu, Ligia Rugină, Cristian On the flexible needle insertion into the human liver |
title | On the flexible needle insertion into the human liver |
title_full | On the flexible needle insertion into the human liver |
title_fullStr | On the flexible needle insertion into the human liver |
title_full_unstemmed | On the flexible needle insertion into the human liver |
title_short | On the flexible needle insertion into the human liver |
title_sort | on the flexible needle insertion into the human liver |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8119694/ https://www.ncbi.nlm.nih.gov/pubmed/33986330 http://dx.doi.org/10.1038/s41598-021-89479-8 |
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