An analysis on tissue deformation during robotic biopsy needle insertion

In recent years, medical robotics has grown continuously beginning to be used in more new areas. Robots were designed with the ability of steering special needles especially for biopsy and brachytherapy procedures. In this paper is determined and analyzed the puncture force and tissues deformation during needle insertion in a robotic biopsy procedure. The experimental set-up used to determine tissue deformations and puncture event is presented considering that controlled forces are applied to the biopsy needle. The tissue deformation is analyzed using image processing techniques. The results for biopsy needle insertion into three different porcine tissues (liver, kidney and skin) are interpreted. Also the results are compared with the ones obtained from Finite Element Method based needle insertion simulation.