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Outline Outline Tissue Modeling and Tissue Modeling and Tissue characteristics Tissue characteristics Characterization Tissue data sources Tissue data sources Characterization Collecting and characterizing tissue

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SLIDE 1

Tissue Modeling and Tissue Modeling and Characterization Characterization

  • M. Cenk Cavusoglu, PhD
  • M. Cenk Cavusoglu, PhD

cavusoglu@case.edu cavusoglu@case.edu

Case Western Reserve University Case Western Reserve University

  • Dept. of Electrical Eng. and Computer
  • Dept. of Electrical Eng. and Computer Sci

Sci. . http://vorlon.cwru.edu/~mcc14/ http://vorlon.cwru.edu/~mcc14/ http://simcen.usuhs.mil/miccai2003 http://simcen.usuhs.mil/miccai2003

Simulation for Medical Training – MICCAI 2003

Outline Outline

  • Tissue characteristics

Tissue characteristics

  • Tissue data sources

Tissue data sources

  • Collecting and characterizing tissue

Collecting and characterizing tissue properties properties

  • Tissue damage

Tissue damage

  • Human sensitivity to stiffness

Human sensitivity to stiffness

Simulation for Medical Training – MICCAI 2003

Tissue is Extremely Complex Tissue is Extremely Complex

  • Nonlinear stress

Nonlinear stress-

  • strain relationship

strain relationship

  • Large deformations possible before yield (

Large deformations possible before yield (Fung Fung, 1993): , 1993):

– – Tendons 2 Tendons 2-

  • 5%

5% – – Muscle 15% Muscle 15% – – Skin 40% Skin 40% – – Vessels 60% Vessels 60% – – Mesentary Mesentary 100 100-

  • 200%

200%

  • Viscoelastic

Viscoelastic

Properties are function of time Properties are function of time

  • Inhomogeneous

Inhomogeneous

Properties vary through tissue thickness Properties vary through tissue thickness

  • Anisotropic

Anisotropic

Properties vary with direction Properties vary with direction

Simulation for Medical Training – MICCAI 2003

Tissue is Extremely Complex Tissue is Extremely Complex

  • Properties change after removal from body

Properties change after removal from body

  • Properties vary with:

Properties vary with:

– – species species – – age age – – sex sex – – in vivo stress state in vivo stress state – – muscle activation muscle activation – – etc. etc.

Simulation for Medical Training – MICCAI 2003

Sources of Tissue Data Sources of Tissue Data

  • Biomechanics literature

Biomechanics literature

  • Ex vivo testing of animal or cadaver tissues

Ex vivo testing of animal or cadaver tissues – – Allows precise control of sample geometry, multi Allows precise control of sample geometry, multi-

  • axial

axial testing testing

  • In vivo testing of animal or human tissue

In vivo testing of animal or human tissue – – Allows natural tissue state (in typical stress state, Allows natural tissue state (in typical stress state, perfused perfused with blood, with muscle activation) with blood, with muscle activation)

  • Force and position sensors on surgical instrument

Force and position sensors on surgical instrument – – Measure interaction forces too complex to model Measure interaction forces too complex to model

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Data from Biomechanics Literature Data from Biomechanics Literature

  • Sources:

Sources: Fung Fung, Yamada, Abe, etc. , Yamada, Abe, etc.

  • Ex vivo, from human or animal cadavers

Ex vivo, from human or animal cadavers

  • Tissue is “conditioned” by repeated cycling

Tissue is “conditioned” by repeated cycling

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SLIDE 2

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Tissue Conditioning Tissue Conditioning

  • Stress

Stress-

  • strain characteristic

strain characteristic changes as tissue is changes as tissue is stretched for repeated stretched for repeated cycles cycles – – Data in biomechanics Data in biomechanics literature is usually literature is usually “conditioned” by “conditioned” by multiple cycles multiple cycles – – But tissue in vivo may But tissue in vivo may not be in similar state! not be in similar state!

Experimental Results from Tendick et al. (2000)

Simulation for Medical Training – MICCAI 2003

Tissue Extension Device Tissue Extension Device

  • Brouwer et al., 2000
  • For in vivo or ex vivo testing of animal tissue

Figure courtesy of F. Tendick, UC San Francisco

Simulation for Medical Training – MICCAI 2003

Tissue Tissue Uniaxial Uniaxial Extension Extension

Load-displacement is exponential...

where λ is the Lagrangian stretch ratio l/l0-

βλ

α λ e F = ) (

Experimental Results from Tendick et al. (2000)

Simulation for Medical Training – MICCAI 2003

Tissue Tissue Uniaxial Uniaxial Extension Extension

… giving linear slope vs. load

βλ

α λ e F = ) (

F d dF β λ = ⇒

  • Easier for fitting

parameters

Experimental Results from Tendick et al. (2000)

Simulation for Medical Training – MICCAI 2003

Viscoelasticity Viscoelasticity

  • Very difficult to fit:

Very difficult to fit: extremely sensitive to extremely sensitive to small changes in data small changes in data

  • But humans aren’t

But humans aren’t very sensitive to slow very sensitive to slow changes anyway changes anyway

∑ ∑

−

=

i t v

C e C t G

i i

) (

Experimental Results from Tendick et al. (2000)

Simulation for Medical Training – MICCAI 2003

Tissue Compression Tissue Compression

  • Rosen et al., 1999

Rosen et al., 1999

  • Works for 3

Works for 3-

  • D tissues and

D tissues and friable tissues that cannot be friable tissues that cannot be grasped for extension grasped for extension

  • Valid for palpation tasks

Valid for palpation tasks

Photo courtesy of Prof. Blake Hannaford, University of Washington

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SLIDE 3

Simulation for Medical Training – MICCAI 2003

Tissue Compression Tissue Compression

  • Ottensmeyer

Ottensmeyer & Salisbury: device to measure & Salisbury: device to measure indentation, including high frequency viscous indentation, including high frequency viscous properties properties

  • Vuskovic

Vuskovic et al.: suction device; analysis to extract et al.: suction device; analysis to extract modulus from measurements modulus from measurements

  • Carter et al.: puncture forces

Carter et al.: puncture forces

  • Ophir

Ophir et al. Ultrasound based estimation of tissue et al. Ultrasound based estimation of tissue stiffness (linear) stiffness (linear)

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Force Sensors on Instruments Force Sensors on Instruments

  • Measure interaction forces too complex to model

Measure interaction forces too complex to model

  • Force signatures during actual procedure

Force signatures during actual procedure

  • Position tracking possible also

Position tracking possible also

Photo courtesy of Prof. Blake Hannaford, University of Washington

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Instrumented Scissors and Clamp Instrumented Scissors and Clamp

Curved Metzenbaum Scissors Curved Kelly Clamp

  • One-axis force sensor measures cutting or spreading forces

Figure courtesy of F. Tendick, UC San Francisco

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Typical Data: Driving Needle Through Typical Data: Driving Needle Through Small Intestine Small Intestine

Experimental Results from Tendick et al. (2000)

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Modeling of Needle Insertion Modeling of Needle Insertion

  • S.P.

S.P. Dimaio Dimaio & S.E. & S.E. Salcudean Salcudean (2003) (2003)

Images from DiMaio and Salcudean (2003) Simulation for Medical Training – MICCAI 2003

Modeling of Needle Insertion Modeling of Needle Insertion

  • C. Simone and A. Okamura (2002)
  • C. Simone and A. Okamura (2002)

Images and Figures from Simone and Okamura (2002)

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SLIDE 4

Simulation for Medical Training – MICCAI 2003

How to Predict Tissue Damage? How to Predict Tissue Damage?

  • Data in literature shows yield stress, but

Data in literature shows yield stress, but damage occurs prior to yield! damage occurs prior to yield!

  • Morimoto et al., 1997

Morimoto et al., 1997

– – Stretched pig tissues with clamp instrumented Stretched pig tissues with clamp instrumented with force sensor with force sensor – – Macroscopic assessment of trauma Macroscopic assessment of trauma – – Microscopic histology Microscopic histology

  • More data needed!

More data needed!

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How Sensitive are We to Changes in How Sensitive are We to Changes in Tissue Stiffness? Tissue Stiffness?

  • Dhruv

Dhruv & Tendick, 2000 & Tendick, 2000

  • Can detect only 17

Can detect only 17-

  • 25%

25% difference between two difference between two stimuli stimuli

  • Spatial variation in surface

Spatial variation in surface stiffness from 1/16 to 1 stiffness from 1/16 to 1 cycle/cm cycle/cm

  • Subjects scanned stimuli,

Subjects scanned stimuli, for effective temporal for effective temporal frequency of 2 frequency of 2 -

  • 40 Hz

40 Hz

  • Sensitivity improves to 1%

Sensitivity improves to 1% at high frequencies at high frequencies

  • Future research: how do

Future research: how do expert surgeons predict expert surgeons predict tissue damage? tissue damage?

Experimental Results from Tendick et al. (2000)

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References: Tissue Modeling References: Tissue Modeling

  • Y.C.

Y.C. Fung Fung, , Biomechanics: Mechanical Properties of Biomechanics: Mechanical Properties of Living Tissues Living Tissues, Springer , Springer-

  • Verlag

Verlag, New York, 2nd edition, , New York, 2nd edition, 1993. 1993.

  • Y.C.

Y.C. Fung Fung, , Biomechanics: Motion, Flow, Stress, and Biomechanics: Motion, Flow, Stress, and Growth Growth, Springer , Springer-

  • Verlag

Verlag, New York, 1990. , New York, 1990.

  • S.A. Wainwright, W.D. Biggs, J.D.

S.A. Wainwright, W.D. Biggs, J.D. Currey Currey, and J.M. , and J.M. Gosline Gosline, , Mechanical Design in Organisms Mechanical Design in Organisms, John Wiley & , John Wiley & Sons, New York, 1976. Sons, New York, 1976.

Simulation for Medical Training – MICCAI 2003

References: Tissue Data References: Tissue Data

  • H. Abe, K. Hayashi, and M. Sato, eds., Data Book on
  • H. Abe, K. Hayashi, and M. Sato, eds., Data Book on

Mechanical Properties of Living Cells, Tissues, and Mechanical Properties of Living Cells, Tissues, and Organs, Springer, Tokyo, 1996. Organs, Springer, Tokyo, 1996.

  • F.A. Duck,

F.A. Duck, Physical Properties of Tissue Physical Properties of Tissue, Academic Press, , Academic Press, London, 1990. London, 1990.

  • http://

http://robotics.eecs.berkeley.edu/~tendick/tissue.html robotics.eecs.berkeley.edu/~tendick/tissue.html

  • H. Yamada,
  • H. Yamada, Strength of Biological Materials

Strength of Biological Materials, Williams & , Williams & Wilkins, Baltimore, MD, 1970. Wilkins, Baltimore, MD, 1970.

Simulation for Medical Training – MICCAI 2003

References: Tissue Measurement References: Tissue Measurement

  • I.
  • I. Brouwer

Brouwer, J. , J. Ustin Ustin, L. Bentley, A. Sherman, N. , L. Bentley, A. Sherman, N. Dhruv Dhruv, and F. , and F. Tendick, “Measuring In Vivo Animal Soft Tissue Properties for Ha Tendick, “Measuring In Vivo Animal Soft Tissue Properties for Haptic ptic Modeling in Surgical Simulation,” in J.D. Westwood et al., eds., Modeling in Surgical Simulation,” in J.D. Westwood et al., eds., Medicine Meets Virtual Reality 2001 Medicine Meets Virtual Reality 2001, IOS Press, Amsterdam, pp. 69 , IOS Press, Amsterdam, pp. 69--

  • 74, Jan. 2001.

74, Jan. 2001.

  • Carter FJ; Frank TG; Davies PJ;

Carter FJ; Frank TG; Davies PJ; Cuschieri Cuschieri A. Puncture forces of solid

  • A. Puncture forces of solid
  • rgan surfaces.
  • rgan surfaces. Surgical Endoscopy

Surgical Endoscopy, 2000 Sep, 14(9):783 , 2000 Sep, 14(9):783-

  • 6.

6.

  • N.
  • N. Dhruv

Dhruv and F. Tendick, “Frequency dependence of compliance and F. Tendick, “Frequency dependence of compliance contrast detection,” in S.S. Nair, ed., Proc. ASME Dynamic Syste contrast detection,” in S.S. Nair, ed., Proc. ASME Dynamic Systems ms and Control Division, vol. DSC 69 and Control Division, vol. DSC 69-

  • 2, Nov. 2000, pp. 1087

2, Nov. 2000, pp. 1087--

  • -93.

93.

  • Hoeg

Hoeg, H.D.; , H.D.; Slatkin Slatkin, A.B.; Burdick, J.W.; , A.B.; Burdick, J.W.; Grundfest Grundfest, W.S. , W.S. Biomechanical modeling of the small intestine as required for th Biomechanical modeling of the small intestine as required for the e design and operation of a robotic endoscope. Proceedings IEEE design and operation of a robotic endoscope. Proceedings IEEE International Conference on Robotics and Automation, pp. 1599 International Conference on Robotics and Automation, pp. 1599-

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1606, April 2000. April 2000.

Simulation for Medical Training – MICCAI 2003

References: Tissue Measurement References: Tissue Measurement

  • Morimoto AK;

Morimoto AK; Foral Foral RD; Kuhlman JL; RD; Kuhlman JL; Zucker Zucker KA; KA; Curet Curet MJ; MJ; Bocklage Bocklage T; MacFarlane TI; T; MacFarlane TI; Kory Kory L. Force sensor for laparoscopic

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  • Babcock. Studies in Health Technology and Informatics, 1997,

39:354 39:354-

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61.

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Ottensmeyer, M.P., Salisbury, J.K. In vivo mechanical tissue property , M.P., Salisbury, J.K. In vivo mechanical tissue property measurement for improved simulations. Proceedings of Digitizatio measurement for improved simulations. Proceedings of Digitization of n of the the Battlespace Battlespace V and Battlefield Biomedical Technologies II, R. V and Battlefield Biomedical Technologies II, R. Suresh and H.H. Suresh and H.H. Pien Pien, Eds., Proc. SPIE 4037, Orlando, FL. 286 , Eds., Proc. SPIE 4037, Orlando, FL. 286-

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28 Apr 2000.

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  • J. Rosen, B. Hannaford, M. MacFarlane, M. Sinanan

Sinanan, 'Force , 'Force Controlled and Teleoperated Controlled and Teleoperated Endoscopic Endoscopic Grasper for Minimally Grasper for Minimally Invasive Surgery Invasive Surgery -

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1221, October 1999. October 1999.

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SLIDE 5

Simulation for Medical Training – MICCAI 2003

References: Tissue Measurement References: Tissue Measurement

  • Rosen J., M. MacFarlane, C. Richards, B. Hannaford, C.

Rosen J., M. MacFarlane, C. Richards, B. Hannaford, C. Pellegrini Pellegrini, M. , M. Sinanan Sinanan, Surgeon/ , Surgeon/Endoscopic Endoscopic Tool Force Tool Force-

  • Torque Signatures In The

Torque Signatures In The Evaluation of Surgical Skills During Minimally Invasive Surgery, Evaluation of Surgical Skills During Minimally Invasive Surgery, Studies in Health Technology and Informatics Studies in Health Technology and Informatics -

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Medicine Meets Virtual Reality Virtual Reality, Vol. 62, pp. 290 , Vol. 62, pp. 290-

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Vuskovic, V.; , V.; Kauer Kauer, M.; , M.; Szekely Szekely, G.; , G.; Reidy Reidy, M. Realistic force , M. Realistic force feedback for virtual reality based diagnostic surgery simulators feedback for virtual reality based diagnostic surgery simulators. . Proceedings IEEE International Conference on Robotics and Proceedings IEEE International Conference on Robotics and Automation, pp. 1592 Automation, pp. 1592-

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properties of tissue—a review,” Ultrasound in Medicine and Biology,

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elastic properties of tissue,” Proceedings of the Institute of Mechanical Engineers, pt. H, Journal of Engineering in Medicine, vol. 213(H3),

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References: Modeling of Needle References: Modeling of Needle Insertion Insertion

  • DiMaio

DiMaio, S.P., and , S.P., and Salcudean Salcudean, S.E., Needle insertion , S.E., Needle insertion modeling and simulation, modeling and simulation, IEEE Transactions on Robotics IEEE Transactions on Robotics and Automation and Automation, vol.19, no.5, Oct. 2003, pp. 864 , vol.19, no.5, Oct. 2003, pp. 864-

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