Evaluation of liver tissue damage and grasp stability using finite element analysis

Cheng, Lei and Hannaford, Blake (2014) Evaluation of liver tissue damage and grasp stability using finite element analysis. Computer methods in biomechanics and biomedical engineering, 19 (1). pp. 31-40.

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Evaluation of Tissue Damage and Grasp Stability Using Finite Element Analysis_Revised Version1_June 8th.pdf

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Official URL: http://www.tandfonline.com/doi/abs/10.1080/1025584...


Minimizing tissue damage and maintaining grasp stability are essential considerations in the procedure of surgical grasper design. Most past and current research analyzing graspers used for tissue manipulation in minimally invasive surgery is based on in- vitro experiments. In their previous work, tissue injury and grasp security are assessed by visual inspection, but not quantified yet. The goal of the present work is to develop a methodology with which to compute tissue damage magnitude and grasp quality that is appropriate for a wide range of grasper-tissue interaction. Using finite element analysis (FEA), four graspers with varying radius of curvature and four graspers with different tooth sizes were analyzed while squeezing and pulling tissue. All graspers were treated as surgical steel with linear elastic material property. Nonlinear material properties of tissue used in the FEA as well as damage evaluation were derived from previously reported in-vivo experiments. Computed peak stress, integrated stress, and tissue damage, were compared. Applied displacement is vertical and then horizontal to the tissue surface. A close examination of the contact status of each node within the grasper-tissue interaction surface was carried out to investigate grasp stability. The results indicate less tissue damage with increasing radius of curvature. A smooth wave pattern reduced tissue damage at the cost of inducing higher percentage of slipping area. By comparing the results with experimental counter parts, it can be concluded the methodology may be useful for researchers to develop and test various design of graspers. Also it could improve the surgical simulator performance by reflecting more realistic tissue material property and predicting tissue damage for the student.

Item Type: Article
Subjects: C Surgical Robots > CC Preventing Tissue Damage
Divisions: Department of Electrical Engineering
Department of Mechanical Engineering
Depositing User: Blake Hannaford
Date Deposited: 03 Nov 2015 00:22
Last Modified: 03 Nov 2015 00:22
URI: http://brl.ee.washington.edu/eprints/id/eprint/262

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