Technical Brief

Decay of Tissue Mechanical Properties Over a 24-hr Period1

[+] Author and Article Information
Trevor K. Stephens, Kelsey A. Harper, Mark J. Brown, Timothy M. Kowalewski

Department of Mechanical Engineering,
University of Minnesota,
Minneapolis, MN 55455

DOI: 10.1115/1.4033807Manuscript received March 1, 2016; final manuscript received March 17, 2016; published online August 1, 2016. Editor: William Durfee.

J. Med. Devices 10(3), 030950 (Aug 01, 2016) (2 pages) Paper No: MED-16-1119; doi: 10.1115/1.4033807 History: Received March 01, 2016; Revised March 17, 2016

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Picinbono, G. , Delingette, H. , and Ayache, N. , 2001, “ Nonlinear and Anisotropic Elastic Soft Tissue Models for Medical Simulation,” IEEE International Conference on Robotics and Automation (2001 ICRA), Seoul, South Korea, May 21–26, pp. 1370–1375.
Sie, A. , Winek, M. , and Kowalewski, T. M. , 2014. “ Online Identification of Abdominal Tissues In Vivo for Tissue-Aware and Injury-Avoiding Surgical Robots,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, IL, Sept. 14–18, pp. 2036–2042.
Brown, J. D. , Rosen, J. , Kim, Y. S. , Chang, L. , Sinanan, M. N. , and Hannaford, B. , 2003, “ In-Vivo and In-Situ Compressive Properties of Porcine Abdominal Soft Tissues,” Stud. Health Technol. Inform., 94, pp. 26–32. [PubMed]
Stephens, T. K. , Meier, Z. C. , Sweet, R. M. , and Kowalewski, T. M. , 2015, “ Tissue Identification Through Back End Sensing on da Vinci Endowrist Surgical Tool,” ASME J. Med. Dev., 9(3), p. 030939. [CrossRef]
Rosen, J. , Brown, J. D. , De, S. , Sinanan, M. , and Hannaford, B. , 2008, “ Biomechanical Properties of Abdominal Organs In Vivo and Postmortem Under Compression Loads,” ASME J. Biomech. Eng., 130(2), p. 021020. [CrossRef]


Grahic Jump Location
Fig. 1

Example data collection with modified daVinci tool

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Fig. 2

Raw grasping data with first grasp (t = 10 min) and final grasp (t = 24 hrs) annotated for clarity

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Fig. 3

RMSE of each trial compared with the first trial along with error bars of the root mean square deviation of each trial's fit

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Fig. 4

Liver 30 min postmortem (left) and 24 hrs postmortem (right)




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