Frictional insertion kinetics of bone biopsy needles.

Patients undergoing a percutaneous bone biopsy often complain of pain during needle insertion, despite local anesthesia. Bone biopsy needles are typically inserted with combined axial and twisting motions. These motions could cause pain through frictional heating or direct mechanical irritation. The hypothesis of this study is that the insertion energy of bone biopsy needles can be reduced by modifying the insertion kinetics or by adding a friction-lowering coating to the needles. Jamshidi bone biopsy needles were driven into a bone analog model by an MTS materials testing machine operating under axial and rotational displacement control. The load/torque recordings showed that, to significantly decrease insertion energy and peak resistance to needle insertion, axial velocity and angular frequency had to be decreased to one quarter of the baseline, typical-usage parameters. However the increased insertion time may not be acceptable clinically. The majority of the insertion energy was associated with the needle axial thrust rather than with needle twisting. Overcoming friction against the side of the needle consumed much more of the insertion energy than did the process of cutting per se. None of five needle coatings tested succeeded in appreciably lowering the insertion energy, and none achieved a substantial decrease in peak resisting force.     

In-shoe plantar tri-axial stress profiles during maximum-effort cutting maneuvers

Soft tissue injuries, such as anterior cruciate ligament rupture, ankle sprain and foot skin problems, frequently occur during cutting maneuvers. These injuries are often regarded as associated with abnormal joint torque and interfacial friction caused by excessive external and in-shoe shear forces. This study simultaneously investigated the dynamic in-shoe localized plantar pressure and shear stress during lateral shuffling and 45° sidestep cutting maneuvers. Tri-axial force transducers were affixed at the first and second metatarsal heads, lateral forefoot, and heel regions in the midsole of a basketball shoe. Seventeen basketball players executed both cutting maneuvers with maximum efforts. Lateral shuffling cutting had a larger mediolateral braking force than 45° sidestep cutting. This large braking force was concentrated at the first metatarsal head, as indicated by its maximum medial shear stress (312.2±157.0 kPa). During propulsion phase, peak shear stress occurred at the second metatarsal head (271.3±124.3 kPa). Compared with lateral shuffling cutting, 45° sidestep cutting produced larger peak propulsion shear stress (463.0±272.6 kPa) but smaller peak braking shear stress (184.8±181.7 kPa), of which both were found at the first metatarsal head. During both cutting maneuvers, maximum medial and posterior shear stress occurred at the first metatarsal head, whereas maximum pressure occurred at the second metatarsal head. The first and second metatarsal heads sustained relatively high pressure and shear stress and were expected to be susceptible to plantar tissue discomfort or injury. Due to different stress distribution, distinct pressure and shear cushioning mechanisms in basketball footwear might be considered over different foot regions.     

Subject-specific non-linear biomechanical model of needle insertion into brain

The previous models for predicting the forces acting on a needle during insertion into very soft organs (such as, e.g. brain) relied on oversimplifying assumptions of linear elasticity and specific experimentally derived functions for determining needle-tissue interactions. In this contribution, we propose a more general approach in which the needle forces are determined directly from the equations of continuum mechanics using fully non-linear finite element procedures that account for large deformations (geometric non-linearity) and non-linear stress-strain relationship (material non-linearity) of soft tissues. We applied these procedures to model needle insertion into a swine brain using the constitutive properties determined from the experiments on tissue samples obtained from the same brain (i.e. the subject-specific constitutive properties were used). We focused on the insertion phase preceding puncture of the brain meninges and obtained a very accurate prediction of the needle force. This demonstrates the utility of non-linear finite element procedures in patient-specific modelling of needle insertion into soft organs such as, e.g. brain.     

Meshless algorithm for soft tissue cutting in surgical simulation

Computation of soft tissue mechanical responses for surgery simulation and image-guided surgery has been dominated by the finite element (FE) method that utilises a mesh of interconnected elements as a computational grid. Shortcomings of such mesh-based discretisation in modelling of surgical cutting include high computational cost and the need for re-meshing in the vicinity of cutting-induced discontinuity. The meshless total Lagrangian adaptive dynamic relaxation (MTLADR) algorithm we present here does not exhibit such shortcomings, as it relies on spatial discretisation in a form of a cloud of nodes. The cutting-induced discontinuity is modelled solely through changes in nodal domains of influence, which is done through efficient implementation of the visibility criterion using the level set method. Accuracy of our MTLADR algorithm with visibility criterion is confirmed against the established nonlinear solution procedures available in the commercial FE code Abaqus.     

Mathematical modeling of laser based potato cutting and peeling

A mathematical model is developed and validated to predict the depth of cut in potato tuber slabs as a function of laser power and travel speed. The model considers laser processing parameters such as input power, spot size and exposure time as well as the properties of the material being cut such as specific heat, thermal conductivity, surface reflectance, etc. The model also considers the phase change of water in potato and the ignition temperature of the solid portion. The composition of the potato tuber is assumed to be of water and solid. The model also assumes that the ablation process is accomplished through ejection of liquid water, debris and water vapour, and combustion of solid. A CO₂ laser operating in c.w. mode was chosen for the experimental work because water absorbs laser energy highly at 10.6 μm, and CO₂ laser units with relatively high output power are available. Slabs of potato tuber were chosen to be laser processed since potato contains high moisture and large amounts of relatively homogeneous tissue. The results of the preliminary calculations and experiments concluded that the model is able to predict the depth of cut in potato tuber parenchyma when subjected to a CO₂ laser beam.     

Parametric convergence sensitivity and validation of a finite element model of the human lumbar spine

The primary objective of this study was to generate a finite element model of the human lumbar spine (L1-L5), verify mesh convergence for each tissue constituent and perform an extensive validation using both kinematic/kinetic and stress/strain data. Mesh refinement was accomplished via convergence of strain energy density (SED) predictions for each spinal tissue. The converged model was validated based on range of motion, intradiscal pressure, facet force transmission, anterolateral cortical bone strain and anterior longitudinal ligament deformation predictions. Changes in mesh resolution had the biggest impact on SED predictions under axial rotation loading. Nonlinearity of the moment-rotation curves was accurately simulated and the model predictions on the aforementioned parameters were in good agreement with experimental data. The validated and converged model will be utilised to study the effects of degeneration on the lumbar spine biomechanics, as well as to investigate the mechanical underpinning of the contemporary treatment strategies.     

Parametric convergence sensitivity and validation of a finite element model of the human lumbar spine

The primary objective of this study was to generate a finite element model of the human lumbar spine (L1–L5), verify mesh convergence for each tissue constituent and perform an extensive validation using both kinematic/kinetic and stress/strain data. Mesh refinement was accomplished via convergence of strain energy density (SED) predictions for each spinal tissue. The converged model was validated based on range of motion, intradiscal pressure, facet force transmission, anterolateral cortical bone strain and anterior longitudinal ligament deformation predictions. Changes in mesh resolution had the biggest impact on SED predictions under axial rotation loading. Nonlinearity of the moment-rotation curves was accurately simulated and the model predictions on the aforementioned parameters were in good agreement with experimental data. The validated and converged model will be utilised to study the effects of degeneration on the lumbar spine biomechanics, as well as to investigate the mechanical underpinning of the contemporary treatment strategies.     

Detailed finite element modelling of deep needle insertions into a soft tissue phantom using a cohesive approach

Detailed finite element modelling of needle insertions into soft tissue phantoms encounters difficulties of large deformations, high friction, contact loading and material failure. This paper demonstrates the use of cohesive elements in high-resolution finite element models to overcome some of the issues associated with these factors. Experiments are presented enabling extraction of the strain energy release rate during crack formation. Using data from these experiments, cohesive elements are calibrated and then implemented in models for validation of the needle insertion process. Successful modelling enables direct comparison of finite element and experimental force–displacement plots and energy distributions. Regions of crack creation, relaxation, cutting and full penetration are identified. By closing the loop between experiments and detailed finite element modelling, a methodology is established which will enable design modifications of a soft tissue probe that steers through complex mechanical interactions with the surrounding material.     

Influence of needling conditions on the corneal insertion force

Abstract

Needle insertion plays an important part in the process of corneal graft surgery. In this paper, a three-dimensional symmetry model of the human cornea is constructed using the finite element method. Simplification of specific optic physiology is defined for the model: The cornea constrained by the sclera is presented as two layers consisting of epithelium and stroma. A failure criterion based on the distortion energy theory has been proposed to predict the insertion process of the needle. The simulation results show a good agreement with the experimental data reported in the literature. The influence of needling conditions (e.g. insertion velocity, rotation parameters and vibration parameters) on the insertion force are then discussed. In addition, a multi-objective optimization based on particle swarm optimization (PSO) is applied to reduce the insertion force. The numerical results provide guidelines for selecting the motion parameters of the needle and a potential basis for further developments in robot-assisted surgery.     

Experimental study of needle–tissue interaction forces: Effect of needle geometries,insertion methods and tissue characteristics

A thorough understanding of needle–tissue interaction mechanics is necessary to optimize needle design, achieve robotically needle steering, and establish surgical simulation system. It is obvious that the interaction is influenced by numerous variable parameters, which are divided into three categories: needle geometries, insertion methods, and tissue characteristics. A series of experiments are performed to explore the effect of influence factors (material samples n=5 for each factor) on the insertion force. Data were collected from different biological tissues and a special tissue-equivalent phantom with similar mechanical properties, using a 1-DOF mechanical testing system instrumented with a 6-DOF force/torque (F/T) sensor. The experimental results indicate that three basic phases (deformation, insertion, and extraction phase) are existent during needle penetration. Needle diameter (0.7–3.2 mm), needle tip (blunt, diamond, conical, and beveled) and bevel angle (10–85°) are turned out to have a great influence on insertion force, so do the insertion velocity (0.5–10 mm/s), drive mode (robot-assisted and hand-held), and the insertion process (interrupted and continuous). Different tissues such as skin, muscle, fat, liver capsule and vessel are proved to generate various force cures, which can contribute to the judgement of the needle position and provide efficient insertion strategy.     

剪叶及昆虫取食对兴安落叶松蛋白酶抑制剂的影响

植物蛋白酶抑制剂是植物重要的防御物质之一。为了研究不同程度剪叶及昆虫取食诱导与兴安落叶松Larix gmelinii针叶内蛋白酶抑制剂活性变化的关系,分别以剪叶及落叶松毛虫Dendrolimus superans取食处理兴安落叶松幼苗,用紫外分光光度法测定不同处理后针叶内胰蛋白酶抑制剂(TI)和胰凝乳蛋白酶抑制剂(CI)活性变化。结果表明：落叶松毛虫取食及剪叶可诱导兴安落叶松产生系统性防御反应,处理后的1～20天,苗木针叶内TI和CI两种抑制剂活性产生显著变化,诱导产生的TI和CI的活性与损伤程度无显著相关性。相同损伤程度下,虫害诱导的TI活性高于剪叶损伤诱导的活性,但二者差异不显著;3种取食程度诱导的CI活性,只在第5天同时显著高于剪叶损伤诱导的抑制剂的活性。由此可见,可以通过适当的损伤处理取得与昆虫取食相似的植物抗性反应,这为林木病虫防治提供了新的思路。     

Influence of needle insertion speed on backflow for convection-enhanced delivery

Fluid flow back along the outer surface of a needle (backflow) can be a significant problem during the direct infusion of drugs into brain tissues for procedures such as convection-enhanced delivery (CED). This study evaluates the effects of needle insertion speed (0.2 and 1.8 mm/s) as well as needle diameter and flow rate on the extent of backflow and local damage to surrounding tissues. Infusion experiments were conducted on a transparent tissue phantom, 0.6% (w/v) agarose hydrogel, to visualize backflow. Needle insertion experiments were also performed to evaluate local damage at the needle tip and to back out the prestress in the surrounding media for speed conditions where localized damage was not excessive. Prestress values were then used in an analytical model of backflow. At the higher insertion speed (1.8 mm/s), local insertion damage was found to be reduced and backflow was decreased. The compressive prestress at the needle-tissue interface was estimated to be approximately constant (0.812 kPa), and backflow distances were similar regardless of needle gauge (22, 26, and 32 gauge). The analytical model underestimated backflow distances at low infusion flow rates and overestimated backflow at higher flow rates. At the lower insertion speed (0.2 mm/s), significant backflow was measured. This corresponded to an observed accumulation of material at the needle tip which produced a gap between the needle and the surrounding media. Local tissue damage was also evaluated in excised rat brain tissues, and insertion tests show similar rate-dependent accumulation of tissue at the needle tip at the lower insertion speed. These results indicate that local tissue damage and backflow may be avoided by using an appropriate insertion speed.     

Deformations and end effects in isolated blood vessel testing

Blood vessels are commonly studied in isolation to define their mechanical and biological properties under controlled conditions. While sections of the wall are sometimes tested, vessels are most often attached to needles and examined in their natural cylindrical configuration where combinations of internal pressure and axial force can be applied to mimic in vivo conditions. Attachments to needles, however, constrain natural vessel response, resulting in a complex state of deformation that is not easily determined. As a result, measurements are usually limited to the midsection of a specimen where end effects do not extend and the deformation is homogeneous. To our knowledge, however, the boundaries of this uninfluenced midsection region have not been explored. The objective of this study was to define the extent of these end effects as a function of vessel geometry and material properties, loading conditions, and needle diameter. A computational fiber framework was used to model the response of a nonlinear anisotropic cylindrical tube, constrained radially at its ends, under conditions of axial extension and internal pressure. Individual fiber constitutive response was defined using a Fung-type strain energy function. While quantitative results depend on specific parameter values, simulations demonstrate that axial stretch is always highest near the constraint and reduces to a minimum in the uninfluenced midsection region. Circumferential stretch displays the opposite behavior. As a general rule, the length of the region disturbed by a needle constraint increases with the difference between the diameter of the needle and the equilibrium diameter of the blood vessel for the imposed loading conditions. The reported findings increase the understanding of specimen deformation in isolated vessel experiments, specifically defining considerations important to identifying a midsection region appropriate for measurement.     

Finite Element Model to Reproduce the Effect of Pre-Stress and Needle Insertion Velocity During Infusions into Brain Phantom Gel

Convection-enhanced delivery (CED) is a technique to bypass the blood-brain barrier and deliver therapeutic agents into the brain. However, animal studies and preliminary clinical trials have reported reduced efficacy to transport drugs in specific regions, attributed mainly to backflow, in which an annular zone is formed outside the catheter and the fluid preferentially flows toward the surface of the brain rather than through the tissue toward the targeted area. In this study, a finite element model of backflow was updated by implementing the pre-stress generated during needle insertion, which allows considering the effect of needle insertion velocity during CED infusions in agarose gel. The nonlinear mechanical properties of the agarose solutions were obtained by fitting experimental data from stress-relaxation tests. Additional experimental measurements of backflow lengths were used to adjust the pre-stress model. The developed model was able to reproduce changes of backflow length under different insertions velocities and flow rates. These findings reveal the relevance of considering the pre-stress in the tissue located around the needle surface during CED infusions into the brain.     

Optimised loads for the simulation of axial rotation in the lumbar spine

Simplified loading modes (pure moment, compressive force) are usually applied in the in vitro studies to simulate flexion-extension, lateral bending and axial rotation of the spine. The load magnitudes for axial rotation vary strongly in the literature. Therefore, the results of current investigations, e.g. intervertebral rotations, are hardly comparable and may involve unrealistic values. Thus, the question 'which in vitro applicable loading mode is the most realistic' remains open. A validated finite element model of the lumbar spine was employed in two sensitivity studies to estimate the ranges of results due to published load assumptions and to determine the input parameters (e.g. torsional moment), which mostly affect the spinal load and kinematics during axial rotation. In a subsequent optimisation study, the in vitro applicable loading mode was determined, which delivers results that fit best with available in vivo measurements. The calculated results varied widely for loads used in the literature with potential high deviations from in vivo measured values. The intradiscal pressure is mainly affected by the magnitude of the compressive force, while the torsional moment influences mainly the intervertebral rotations and facet joint forces. The best agreement with results measured in vivo were found for a compressive follower force of 720N and a pure moment of 5.5Nm applied to the unconstrained vertebra L1. The results reveal that in many studies the assumed loads do not realistically simulate axial rotation. The in vitro applicable simplified loads cannot perfectly mimic the in vivo situation. However, the optimised values lead to the best agreement with in vivo measured values. Their consequent application would lead to a better comparability of different investigations.     

Computational modeling to predict mechanical function of joints: application to the lower leg with simulation of two cadaver studies

Computational models of musculoskeletal joints and limbs can provide useful information about joint mechanics. Validated models can be used as predictive devices for understanding joint function and serve as clinical tools for predicting the outcome of surgical procedures. A new computational modeling approach was developed for simulating joint kinematics that are dictated by bone/joint anatomy, ligamentous constraints, and applied loading. Three-dimensional computational models of the lower leg were created to illustrate the application of this new approach. Model development began with generating three-dimensional surfaces of each bone from CT images and then importing into the three-dimensional solid modeling software SOLIDWORKS and motion simulation package COSMOSMOTION. Through SOLIDWORKS and COSMOSMOTION, each bone surface file was filled to create a solid object and positioned necessary components added, and simulations executed. Three-dimensional contacts were added to inhibit intersection of the bones during motion. Ligaments were represented as linear springs. Model predictions were then validated by comparison to two different cadaver studies, syndesmotic injury and repair and ankle inversion following ligament transection. The syndesmotic injury model was able to predict tibial rotation, fibular rotation, and anterior/posterior displacement. In the inversion simulation, calcaneofibular ligament extension and angles of inversion compared well. Some experimental data proved harder to simulate accurately, due to certain software limitations and lack of complete experimental data. Other parameters that could not be easily obtained experimentally can be predicted and analyzed by the computational simulations. In the syndesmotic injury study, the force generated in the tibionavicular and calcaneofibular ligaments reduced with the insertion of the staple, indicating how this repair technique changes joint function. After transection of the calcaneofibular ligament in the inversion stability study, a major increase in force was seen in several of the ligaments on the lateral aspect of the foot and ankle, indicating the recruitment of other structures to permit function after injury. Overall, the computational models were able to predict joint kinematics of the lower leg with particular focus on the ankle complex. This same approach can be taken to create models of other limb segments such as the elbow and wrist. Additional parameters can be calculated in the models that are not easily obtained experimentally such as ligament forces, force transmission across joints, and three-dimensional movement of all bones. Muscle activation can be incorporated in the model through the action of applied forces within the software for future studies.     

Comparison of protein fragments identified by limited proteolysis and by computational cutting of proteins

Here we present a comparison between protein fragments produced by limited proteolysis and those identified by computational cutting based on the building block folding model. The principles upon which the two methods are based are different. Limited proteolysis of natively folded proteins occurs at flexible sites and never at the level of chain segments of regular secondary structure such as alpha-helices. Therefore, the targets for limited proteolysis are locally unfolded regions. In contrast, the computational cutting algorithm considers the compactness of the fragments, their nonpolar buried surface area, and their isolatedness, that is, the surface area which was buried prior to the cutting and becomes exposed subsequently. Despite the different criteria, there is an overall correspondence between sites or regions of limited proteolysis with those identified by computational cutting. The computational cutting method has been applied to several model proteins for which detailed limited proteolysis data are available, namely apomyoglobin, cytochrome c, ribonuclease A, alpha-lactalbumin, and thermolysin. As expected, more cuts are obtained computationally than experimentally and the agreement is better when a number of proteolytic enzymes are used. For example, cytochrome c is cleaved by thermolysin at 56-57, 45-46, and at 80-81, and by proteinase K at 48-49 and 50-51. Incubation of the noncovalent and native-like complex of cytochrome c fragments 1-56 and 57-104 with proteinase K yielded the gapped protein species 1-48/57-104 and finally 1-40/57-104. Computational cutting of cytochrome c reproduced the major experimental observations, with cuts at 47, 64-65 or 65-66 and 80-81 and an unstable 32-47 region not assigned to any building block. The next step, not addressed in this work, is to probe the ability of the generated fragments to fold independently. Since both the computational algorithm and limited proteolysis attempt to dissect the protein folding problem, the general agreement between the two procedures is gratifying. This consistency allows us to propose the use of limited proteolysis to produce protein fragments that can adopt an independent folding and, therefore, to study folding intermediates. The results of the present study appear to validate the building block folding model and are in line with the proposal that protein folding is a hierarchical process, where parts constituting local minima of energy fold first, with their subsequent association and mutual stabilization to finally yield the global fold.     

崖爬藤的生态生物学特征及其扦插繁殖技术

崖爬藤为葡萄科常绿或半常绿藤本,具有重要园林绿化价值。该研究采用叶片离析法和石蜡切片法研究其叶片的形态结构。结果表明:崖爬藤平均叶面积(23.1 cm~2)较大,单位叶面积干重(4.4 mg·cm~(-2))较小,成熟叶厚约为195.5μm,栅栏组织不发达,胞间隙大。利用便携式LI-6400光合测定仪、PAM-2100荧光测定仪对崖爬藤光合生理生态指标进行研究。结果表明:其PSⅡ的最大光化学效率Fv/Fm(0.818)较高;叶片的净光合速率日变化呈单峰型,没有明显的光合午休现象,最大净光合速率Pn为3.691μmol·m~(-2)·s~(-1),出现在14:00时,变化趋势与光合有效辐射Par、大气温度T、蒸腾速率Tr、气孔导度Gs等因子相同,与胞间CO_2浓度Ci相反,同时具有较高的水分利用效率(3.056μmol·mmol~(-1))。这都显示了崖爬藤喜阴湿环境,不耐寒且具有一定的耐旱特性,适合栽植于我国温度较高的南方地区。此外,以崖爬藤1~2年生老枝和当年生嫩枝为材料,经梯度溶液IBA处理进行扦插生根实验,结果表明,崖爬藤扦插繁殖迅速,生根率较高,以当年生嫩枝不经IBA处理直接扦插为最佳。该研究结果将为崖爬藤的栽培及开发利用提供重要的理论和技术指导。     

Heathland restoration in The Netherlands: Effects of turf cutting depth on germination of Arnica montana

Abstract. Germination experiments were conducted in a heathland after turf cutting and in a climate chamber to investigate the effects of turf cutting depth, aluminium toxicity and aluminium detoxification by humic acids and base cations on the germination and establishment of Arnica montana. Turfs were cut at three different depths, creating a gradient from organic to mineral soils. Germination and establishment of A. montana were negatively correlated with turf cutting depth. The removal of organic matter resulted in a major decrease in organic fraction of the soil and its nutrients. It also resulted in a considerable decrease in moisture content and humic acids. Additional liming after turf cutting increased germination and establishment in all plots and at all depths. Germination experiments under controlled conditions in a climate chamber revealed a significantly higher germination at low aluminium/calcium (Al:Ca) ratios. High Al:Ca ratios resulted in poor germination, suggesting Al toxicity. Addition of humic acids increased germination, even at high Al:Ca ratios, suggesting immobilization of Al by humic acids. It is concluded that turf cutting can have a marked effect on the success of heathland restoration. It results in the intended removal of the eutrophic layer but also in the unintentional removal of much of the buffering mechanisms and/or Al immobilizing compounds. Additional buffering and/or less deep turf cutting may be necessary to allow germination and establishment of rare herbaceous species such as A. montana.     

GPU-based real-time soft tissue deformation with cutting and haptic feedback

This article describes a series of contributions in the field of real-time simulation of soft tissue biomechanics. These contributions address various requirements for interactive simulation of complex surgical procedures. In particular, this article presents results in the areas of soft tissue deformation, contact modelling, simulation of cutting, and haptic rendering, which are all relevant to a variety of medical interventions. The contributions described in this article share a common underlying model of deformation and rely on GPU implementations to significantly improve computation times. This consistency in the modelling technique and computational approach ensures coherent results as well as efficient, robust and flexible solutions.