Biomechanical property of soft tissue derived from experimental measurements is critical to develop a reality-based soft-tissue model for minimally invasive surgical training and simulation. In our research, we have focused on developing a biomechanical model of the liver with the ultimate goal of using this model for local tool-tissue interaction tasks and providing feedback to the surgeon through a haptic (sense of touch) display. In this paper, we present two devices that we have designed and built, namely, ex vivo and in vivo testing devices. We used them to measure the experimental force and displacement data of pig liver tissue. The device for ex vivo experiments uses a PC-based control system to control the motion of the probe and acquire the experimental force and displacement data. The force resolution for ex vivo testing was (as per the resolution information provided by the manufacturer) and the probe velocity ranged from to . The device was designed so that it could be easily used for both small probe (tissue sample larger than the indenting probe surface area) testing as well as large probe (tissue sample smaller than the indenting probe surface area) testing. The device for in vivo experiments used a microcontroller-based instrumentation to control the motion and acquire and store the data on a multimedia memory disk. This device is designed for the purpose of acquiring experimental force and displacement data in vivo. The primary challenge in the design of the device for in vivo experiments was the limited workspace for device operation. The force resolution for in vivo testing was and the displacement resolution was . The sampling frequency for data acquisition for in vivo testing was .
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e-mail: lau@drexel.edu
e-mail: jaydev@umd.edu
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December 2008
Research Papers
Instrumentation for Testing Soft Tissue Undergoing Large Deformation: Ex Vivo and In Vivo Studies
Alan C. W. Lau,
Alan C. W. Lau
Department of Mechanical Engineering and Mechanics,
e-mail: lau@drexel.edu
Drexel University
, Philadelphia, PA 19104
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Jaydev P. Desai
Jaydev P. Desai
Robotics, Automation, Manipulation, and Sensing (RAMS) Laboratory,
e-mail: jaydev@umd.edu
University of Maryland
, College Park, MD 20742
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Tie Hu
Alan C. W. Lau
Department of Mechanical Engineering and Mechanics,
Drexel University
, Philadelphia, PA 19104e-mail: lau@drexel.edu
Jaydev P. Desai
Robotics, Automation, Manipulation, and Sensing (RAMS) Laboratory,
University of Maryland
, College Park, MD 20742e-mail: jaydev@umd.edu
J. Med. Devices. Dec 2008, 2(4): 041001 (6 pages)
Published Online: October 23, 2008
Article history
Received:
October 29, 2007
Revised:
August 13, 2008
Published:
October 23, 2008
Citation
Hu, T., Lau, A. C. W., and Desai, J. P. (October 23, 2008). "Instrumentation for Testing Soft Tissue Undergoing Large Deformation: Ex Vivo and In Vivo Studies." ASME. J. Med. Devices. December 2008; 2(4): 041001. https://doi.org/10.1115/1.2996594
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