Premium
Hyperelastic modelling and parametric study of soft tissue embedded lump for MIS applications
Author(s) -
Sokhanvar S.,
Dargahi J.,
Packirisamy M.
Publication year - 2008
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.202
Subject(s) - hyperelastic material , finite element method , computer science , stiffness , compression (physics) , consistency (knowledge bases) , stress (linguistics) , parametric statistics , biomedical engineering , artificial intelligence , mechanical engineering , materials science , mathematics , structural engineering , engineering , statistics , composite material , linguistics , philosophy
Background The existing MIS (minimally invasive surgery) instruments have caused severe restrictions to surgeons' tactile perception. In particular, palpation, which is an important technique in open surgery to assess the softness of the tissue and to detect any hidden lumps, is entirely absent in MIS procedures. Many researchers have developed smart endoscopic graspers to rectify different aspects of this problem. However, the effect of an anatomical feature in general and a lump in particular on the stress distribution on the sensitive surfaces of the smart MIS graspers still needs a lot of attention. Methods This paper investigates the effect of the important parameters of a lump on the stress distribution at the contact surface and subsequently the output of smart endoscopic graspers. Using experimental stress–strain compression test data, the material parameters required for the Mooney–Rivlin model were obtained and used in hyperelastic finite element analysis. Results The influence of size, depth and stiffness of the lump on the stress distribution at the contact surface are shown and discussed. The results of the non‐linear finite element analysis were validated against experiments conducted on elastomeric material replicating soft tissue. Conclusions The consistency between finite element analysis results and experimental work validates the developed model, which is based on the hyperelastic formulation. The finite element analysis results obtained in this study are particularly useful for the development of an inverse model. The inverse model would extract fundamental information, such as size, depth and stiffness, of any hidden lump, using the outputs of the sensors. Copyright © 2008 John Wiley & Sons, Ltd.