Efficient Soft Tissue Characterization under Large Deformations in Medical Simulations

다국어 초록 (Multilingual Abstract)

The modeling of soft tissue behavior is essential for virtual reality (VR)-based medical simulation, providing a safe
and objective medium for training of the medical personnel. This paper presents a soft tissue modeling framework
including instrumentation design, in vitro organ experiments and material property characterization. As observed
from the force responses measured by a force transducer, the tissue was assumed as a nonlinear, continuous,
incompressible, homogeneous and isotropic material for modeling. An electromechanical indentation system to
measure the mechanical behavior of soft tissues was designed, and a series harvested organ in vitro experiments
were performed. The non-linear soft tissue model parameters were then extracted by matching finite element
model predictions with the empirical data. The soft tissue characterization algorithm could become
computationally efficient by reducing the number of parameters. The developed tissue models are suitable for
computing accurate reaction forces on surgical instruments and for computing deformations of organ surfaces for
the VR based medical simulation.

참고문헌 (Reference)

1 Nasseri, S., "Viscoelastic properties of pig kidney in shear, experimental results and modeling" 41 (41): 180-192, 2002

2 Richards, M., "Viscoelastic characterization of mesenchymal gap tissue and consequences for tension accumulation during distraction" 121 (121): 116-123, 1999

3 Basdogan, C., "Virtual environments for medical training: Graphical and haptic simulation of laparoscopic common bile duct exploration" 6 (6): 269-285, 2001

4 Sneddon, I. N., "The relation between load and penetration in the axisymmetric boussinesq problem for a punch of arbitrary profile" 3 (3): 47-57, 1965

5 Ottensmeyer, M. P., "The Effects of Testing Environment on the Viscoelastic Properties of Soft Tissues" 3078 : 9-18, 2004

6 김광훈, "Relationship between Stiffness of Restorative Material and Stress Distribution for Notch-shaped Non-carious Cervical Lesions" 한국정밀공학회 9 (9): 64-67, 2008

7 Nielsen, M. B., "Real-time Volumetric Deformable Models for Surgery Simulation using Finite Elements and Condensation" 15 (15): 57-66, 1996

8 Cotin, S., "Real Time Elastic Deformations of Soft Tissues for Surgery Simulation" 5 (5): 62-73, 1999

9 Carew, E. O., "Quasi-linear viscoelastic theory applied to internal shearing of porcine aortic valve leaflets" 121 (121): 386-392, 1999

10 Press, W. H, "Numerical recipes in C++, the art of scientific computing: second edition" Cambridge University Press 1992

11 Schwartz, J. M., "Modelling liver tissue properties using a nonlinear visco-elastic model for surgery simulation" 9 (9): 103-112, 2005

12 Mack, M. J., "Minimally invasive and robotic surgery" 285 (285): 568-572, 2001

13 Tiziana, S. L., "Mechanical properties of single living cells encapsulated in polyelectrolyte matrixes" 124 (124): 723-731, 2006

14 Miller, K., "Mechanical properties of brain tissue in vivo: experiment and computer simulation" 33 (33): 1369-1376, 2000

15 Carter, F. J., "Measurements and Modeling of the Compliance of Human and Porcine Organs" 5 (5): 231-236, 2001

16 Kauer, M., "Inverse Finite Element Characterization of Soft Tissue" 6 (6): 275-287, 2002

17 Kalanovic, D., "Independent testing of soft tissue viscoelasticity using indentation and rotary shear deformations" 2003

18 Nava, A, "In vivo mechanical characterization of human liver" 12 (12): 203-216, 2008

19 Tay, B. K, "In vivo mechanical behavior of intra-abdominal organs" 53 (53): 2129-2138, 2006

20 Sakuma, I., "In vitro Measurement of Mechanical Properties of Liver Tissue under Compression and Elongation Using a New Test Piece Holding Method with Surgical Glue" 2673 : 284-292, 2003

21 Kee Joo Kim, "Hydroforming Simulation of High-strength Steel Cross-members in an Automotive Rear Subframe" 한국정밀공학회 9 (9): 55-58, 2008

22 Misra, S., "Force Feedback is Noticeably Different for Linear versus Nonlinear Elastic Tissue Models" 519-524, 2007

23 Zheng, Y. P, "Extraction of Quasi-Linear Viscoelastic Parameters for Lower Limb Soft Tissues from Manual Indentation Experiments" 121 (121): 330-339, 1999

24 Valtorta, D., "Dynamic measurement of soft tissue viscoelastic properties with a torsional resonator device" 9 (9): 481-490, 2005

25 Dill, E. H., "Continuum Mechanics: Elasticity, Plasticity, Viscoelasticity" CRC Press 2006

26 Johnson, K. L., "Contact mechanics" Cambridge University Press 1985

27 Boyce, M. C., "Constitutive models of rubber elasticity: A review" 73 (73): 504-523, 2000

28 Kim, J., "Characterization of Viscoelastic Soft Tissue Properties from In vivo Animal Experiments and Inverse FE Parameter Estimation" 3750 : 599-606, 2005

29 Hu, T, "Characterization of Soft-Tissue Material Properties: Large Deformation Analysis" 3078 : 28-37, 2003

30 Fung, Y. C., "Biomechanics Mechanical Properties of Soft Tissues: second edition" Springer-Verlag 1996

31 Rosen, J., "Biomechanical Properties of Abdominal Organs in vivo and Postmortem under Compression Loads" 130 (130): 021020.1-021020.17, 2008

32 Johnson, G. A, "A single integral finite strain viscoelastic model of ligaments and tendons" 118 (118): 221-226, 1996

33 Samur, E., "A robotic indenter for minimally invasive measurement and characterization of soft tissue response" 11 (11): 361-373, 2007

34 Tendick, F., "A Virtual Environment Testbed for Training Laparoscopic Surgical Skills" 9 (9): 236-255, 2000