IN VIVO STUDY OF FORCES DURING NEEDLE INSERTIONS

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 dierent conditions (manual and robotic insertions) and dierent organs (liver and kidney). Finally, we review some bio-mechanical models of the literature in the light of our measurements. 1.