University of Twente Student Theses


Force-based measurement of tissue stiffness in 1-DOF needle insertion robotic device for liver interventions

Motheram, Manaswini (2023) Force-based measurement of tissue stiffness in 1-DOF needle insertion robotic device for liver interventions.

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Abstract:The medical robotics field has experienced a surge in the use of needle insertion robots for tumor diagnosis and treatment. Traditionally, these systems relied on image guidance for tumor localization, leading to prolonged procedures and potential side effects like excessive radiation exposure from CT scans. This research proposes a novel approach to estimate tumor stiffness based on forces experienced during needle insertion, reducing imaging dependence. A one-degree-of-freedom (1-DOF) needle insertion robot is designed for this purpose. A liver phantom with varying tumor stiffnesses, mimicking human liver properties, is developed for realistic testing. The robot performs experiments, inserting a needle into the phantom containing single and double tumors, while a force sensor records the forces experienced. This approach could lead to more efficient tumor detection and treatment methods, minimizing imaging reliance and associated drawbacks. The study also explores the robot's design and functionality, ensuring user-friendliness and intuitiveness. Preliminary dry runs determined contact forces, used as an offset during needle insertion. The study examines the impact of the liver phantom's material composition on force readings by comparing ecoflex and gelatin phantoms. The results offer insights into tissue stiffness and forces interaction during needle insertion, establishing a foundation for further study and current procedures improvement. Ultimately, this approach could enhance needle insertion techniques.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Electrical Engineering MSc (60353)
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