Technical notesResistance forces acting on suture needles
Introduction
Virtual reality (VR) surgical simulators are an effective educational tool (Rosen et al., 1999). Current computer generated imaging closely models the visual surgical environment, but realistic tactile and force (haptic) feedback is lacking. Improving the haptic feedback through accurate characterization of the mechanical properties of soft tissues enhances the realism and educational benefit of surgical simulators. The integration of robotic technology into the surgical environment requires accurate mathematical modelling based on mechanical testing of soft tissues (Miller and Chinzei, 1997).
The use of needles during suturing is one of the most common procedures in surgery. Previous studies have evaluated suture needle penetration, examining the effect of needle material properties and geometry on function (Towler et al., 1988; McClung et al., 1992; Edlich et al., 1990; Bendel et al., 1986). These studies focused on the mechanical properties of the needle rather than the tissue. The tissue response to loading constitutes the haptic feedback to the surgeon during suturing. In order to develop a surgical simulator with haptic fidelity, the tissue response to needle penetration forces must be characterized. This study examined the resistance forces encountered during the passage of a straight suture needle through sheepskin and sheep tendon to provide input data for haptic VR surgical simulation.
Section snippets
Method
Ethics approval was obtained for the acquisition and use of animal tissue in this study.
Results
Greater axial force was required by the surgeons during needle passage through tendon (mean 5.3 N) than through skin (mean 1.9).
Discussion
The development of virtual reality techniques and the emergence of automated surgical tools and robots has prompted research into the computer simulation of surgical procedures (Miller et al., 2000). Computer simulations rely on experimental data for their accuracy due to the high degree of variability between both types of tissue and individuals. The passage of a suture needle through soft tissue is important in VR surgical modelling of tissue behavior because it is a fundamental action in
Conclusion
The resistance forces acting on needles during suturing can be characterized. This data provides groundwork in the rapidly developing field of VR and robotic surgery, as well as providing an ergonomic analysis of the factors involved in needle penetration of skin and other soft tissues.
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