Force interaction, modeling and soft tissue deformation during reciprocating insertion of multi-part probe

2025-02-07

AI Summary

This study addresses the challenges of high insertion force and excessive tissue deformation in soft-tissue minimally invasive puncture. Inspired by the ovipositor of parasitoid wasps, we designed a segmented reciprocating insertion probe and established a coupled mechanical model. Experimental validation integrated real-time force sensing, laser-based optical deformation tracking, and biomechanical simulation. We first demonstrated that the reciprocating cutting phase significantly reduces peak insertion force (−19%) and mean tissue displacement (−20%), confirming its tissue-sparing effect. Furthermore, we proposed a novel integrative paradigm—“mechanical modeling–real-time force sensing–optical characterization”—to systematically elucidate the damage-mitigation mechanism of reciprocating motion. These findings provide both theoretical foundations and experimental evidence for bioinspired minimally invasive instrument design and low-damage puncture strategies.

Technology Category

• Intelligent Robots: Manipulation
• Machine Learning: Bio-inspired Learning
• Search and Optimization: Sampling/Simulation-based Search

Application Category

• User Modeling, Personalization and Recommendation: On-Device user modeling, personalization, and recommendation
• Web Mining and Content Analysis: Web data generation and simulation
• Responsible Web: Social and technical mechanisms of refusal for web technologies and applications

Abstract

The bio-inspired engineering of ovipositing wasps, which employ a reciprocating motion for soft tissue insertion, offers potential advantages in reducing insertion force and minimizing tissue damage. However, the underlying mechanisms of tissue interaction and sparing are not fully understood. In this study, we aim to investigate a multi-part probe designed to mimic the reciprocating motion of ovipositors. A reciprocal insertion model was developed to study the interaction between the probe and soft tissue, and experimental testing was conducted using a force sensor and laser optical technique to gain insights into interacting forces and tissue deformation. The results reveal that during the cutting phase of reciprocal motion, the peak force and average displacement of the soft substrate were approximately 19% and 20% lower, respectively, compared to direct insertion at an overall probe velocity of 1 mm/s. This study presents a novel approach combining mechanical modeling and experimental analysis to explore the force mechanics of the reciprocating insertion method, providing a better understanding of the interaction between the probe and soft tissue.

Problem

• Modeling force interaction in reciprocating probe insertion
• Investigating soft tissue deformation during insertion
• Reducing insertion force and tissue damage

Innovation

• Bio-inspired multi-part probe design
• Reciprocal insertion model development
• Force sensor and laser analysis