IN VIVO STUDY OF FORCES DURING NEEDLE INSERTIONS

Perspective in Image-Guided Surgery, pp. 415-422 (2004) No AccessIN VIVO STUDY OF FORCES DURING NEEDLE INSERTIONSB. MAURIN, L. BARBE, B. BAYLE, P. ZANNE, J. GANGLOFF, M. DE MATHELIN, A. GANGI, L. SOLER and A. FORGIONEB. MAURINLSIIT, UMR CNRS-ULP 7005, bd. S. Brunt, 67400 Illkirch, France, L. BARBELSIIT, UMR CNRS-ULP 7005, bd. S. Brunt, 67400 Illkirch, France, B. BAYLELSIIT, UMR CNRS-ULP 7005, bd. S. Brunt, 67400 Illkirch, France, P. ZANNELSIIT, UMR CNRS-ULP 7005, bd. S. Brunt, 67400 Illkirch, France, J. GANGLOFFLSIIT, UMR CNRS-ULP 7005, bd. S. Brunt, 67400 Illkirch, France, M. DE MATHELINLSIIT, UMR CNRS-ULP 7005, bd. S. Brunt, 67400 Illkirch, France, A. GANGIDépartement de Radiologie B, Hôpital Civil, 67091 Strasbourg, France, L. SOLERIRCAD, Hopital Civil, 67100 Strasbourg, France and A. FORGIONEIRCAD, Hopital Civil, 67100 Strasbourg, Francehttps://doi.org/10.1142/9789812702678_0056Cited by:50 PreviousNext AboutSectionsPDF/EPUB ToolsAdd to favoritesDownload CitationsTrack CitationsRecommend to Library ShareShare onFacebookTwitterLinked InRedditEmail Abstract: Percutaneous procedures are among the developing minimally invasive techniques to treat cancerous diseases of the digestive system. They require a very accurate targeting of the organs, achieved by the combination of tactile sensing and medical imaging. In this paper, we study the forces involved during in vivo percutaneous procedures for the development of a force feedback needle insertion robotic system as well as the development of a realistic simulation device. The paper presents different conditions (manual and robotic insertions) and different organs (liver and kidney). Finally, we review some bio-mechanical models of the literature in the light of our measurements. 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