The aim of this work is to propose a mosquito-inspired (bioinspired) design of a surgical needle that can decrease the insertion force and the tissue deformation, which are the main causes of target inaccuracy during percutaneous procedures. The bioinspired needle was developed by mimicking the geometrical shapes of mosquito proboscis. Needle prototypes were manufactured and tested to determine optimized needle shapes and geometries. Needle insertion tests on a tissue-mimicking polyvinylchloride (PVC) gel were then performed to emulate the mosquito-proboscis stinging dynamics by applying vibration and insertion velocity during the insertion. An insertion test setup equipped with a sensing system was constructed to measure the insertion force and to assess the deformation of the tissue. It was discovered that using the proposed bioinspired design, the needle insertion force was decreased by 60% and the tissue deformation was reduced by 48%. This finding is significant for improving needle-based medical procedures.
van GerwenDJDankelmanJvan den DobbelsteenJJ.Needle–tissue interaction forces – A survey of experimental data. Med Eng Phys2012; 34(6): 665–680.
2.
AbolhassaniNPatelRMoallemM.Needle insertion into soft tissue: a survey. Med Eng Phys2007; 29(4): 413–431.
3.
PodderTKDickerAPHutapeaP, et al. A novel curvilinear approach for prostate seed implantation. Med Phys2012; 39(4): 1887–1892.
4.
PiccininoFSagnelliEPasqualeG, et al. Complications following percutaneous liver biopsy. A multicentre retrospective study on 68,276 biopsies. J Hepatol1986; 2(2): 165–173.
5.
KimJWShinSS.Ultrasound-guided percutaneous core needle biopsy of abdominal viscera: tips to ensure safe and effective biopsy. Korean J Radiol2017; 18(2): 309–322.
6.
DiMaioSPSalcudeanSE.Needle insertion modeling and simulation. IEEE Trans Robot Autom2003; 19(5): 864–875.
7.
YangCXieYLiuS, et al. Force modeling, identification, and feedback control of robot-assisted needle insertion: a survey of the literature. Sensors2018; 18(2): 561.
8.
JiangSLiPYuY, et al. Experimental study of needle-tissue interaction forces: effect of needle geometries, insertion methods, and tissue characteristics. J Biomech2014; 47(13): 3344–3353.
9.
McGillCSSchwartzJAMooreJZ, et al. Effects of insertion speed and trocar stiffness on the accuracy of needle position for brachytherapy. Med Phys2012; 39(4): 1811–1817.
10.
LiangDJiangSYangZ, et al. Simulation and experiment of soft-tissue deformation in prostate brachytherapy. Proc IMechE, Part H: J Engineering in Medicine2016; 230(6): 532–544.
11.
AbolhassaniNPatelRMoallemM.Control of soft tissue deformation during robotic needle insertion. Minim Invasive Ther Allied Technol2006; 15(3): 165–176.
12.
de JongTLvan de BergNJTasL, et al. Needle placement errors: do we need steerable needles in interventional radiology?Med Device2018; 11: 259–265.
13.
OkamuraAMSimoneCO’LearyMD.Force modeling for needle insertion into soft tissue. IEEE Trans Biomed Eng2004; 51(10): 1707–1716.
14.
MahvashMDupontPE.Fast needle insertion to minimize tissue deformation and damage. In: IEEE international conference on robotics and automation, 2009; pp.3097–3102. New York: IEEE.
15.
SahlabadiMKhodaeiSJezlerK, et al. Insertion mechanics of bioinspired needles into soft tissues. Minim Invasive Ther Allied Technol2018; 27(5): 284–291.
16.
BeggNDSlocumAH.Audible frequency vibration of puncture-access medical devices. Med Eng Phys2014; 36(3): 371–377.
17.
LiADRPutraKBChenL, et al. Mosquito proboscis-inspired needle insertion to reduce tissue deformation and organ displacement. Sci Rep2020; 10(1): 12248.
18.
ScaliMKreeftDBreedveldP, et al. Design and evaluation of a wasp-inspired steerable needle. Proc. SPIE2017; 10162: 34–46.
ShoffstallAJSrinivasanSWillisM, et al. A mosquito inspired strategy to implant microprobes into the brain. Sci Rep2018; 8(1): 122.
21.
ScaliMPuschTPBreedveldP, et al. Ovipositor-inspired steerable needle: design and preliminary experimental evaluation. Bioinspir Biomim2017; 13(1): 016006.
22.
KimJParkSNamG, et al. Bioinspired microneedle insertion for deep and precise skin penetration with low force: why the application of mechanophysical stimuli should be considered. J Mech Behav Biomed Mater2018; 78: 480–490.
23.
IzumiHYajimaTAoyagiS, et al. Combined harpoon-like jagged microneedles imitating mosquito’s proboscis and its insertion experiment with vibration. IEEJ Trans Electr Electron Eng2008; 3(4): 425–431.
24.
DavisSPLandisBJAdamsZH, et al. Insertion of microneedles into skin: measurement and prediction of insertion force and needle fracture force. J Biomech2004; 37(8): 1155–1163.
25.
TanLQinXZhangQ, et al. Effect of vibration frequency on biopsy needle insertion force. Med Eng Phys2017; 43: 71–76.
26.
BarnettACJonesJALeeYS, et al. Compliant needle vibration cutting of soft tissue. J Manuf Sci Eng2016; 138(11): 1–9.
27.
HuangYCTsaiMCLinCH.A piezoelectric vibration-based syringe for reducing insertion force. IOP Conf Ser Mater Sci Eng2012; 42(1): 012020.
28.
BiDLinY. Vibrating needle insertion for trajectory optimization. In: IEEE world congress on intelligent control and automation, 2008; pp.7444–7448. New York: IEEE.
29.
LenauTAHesselbergTDrakidisA, et al. Mosquito inspired medical needles. Proc SPIE2017; 10162: 1016208.
30.
KongXQWuCW.Measurement and prediction of insertion force for the mosquito fascicle penetrating into human skin. J Bionic Eng2009; 6(2): 143–152.
31.
AoyagiSIzumiHFukudaM.Biodegradable polymer needle with various tip angles and consideration on insertion mechanism of mosquito’s proboscis. Sens Actuators A Phys2008; 143(1): 20–28.
32.
GiddeSTRHutapeaP. Design and experimental evaluation of mosquito-inspired needle structure in soft materials. In: ASME international mechanical engineering congress and exposition, 2020; 84522: 1–3. New York: ASME.
33.
GiddeSTRCiuciuADevaravarN, et al. Effect of vibration on insertion force and deflection of bioinspired needle in tissues. Bioinspir Biomim2020; 15(5): 054001.
34.
HealeyAEEvansJCMurphyMG, et al. In vivo force during arterial interventional radiology needle puncture procedures. Stud Health Technol Inform2005; 111: 178–184. https://pubmed.ncbi.nlm.nih.gov/15718723/ (accessed 24 February 2022)
35.
ClementRSUngerELOcón-GroveOM, et al. Effects of axial vibration on needle insertion into the tail veins of rats and subsequent serial blood corticosterone levels. J Am Assoc Lab Anim Sci2016; 55(2): 204–212.
36.
IzumiHSuzukiMAoyagiS, et al. Realistic imitation of mosquito’s proboscis: electrochemically etched sharp and jagged needles and their cooperative inserting motion. Sens Actuators A Phys2011; 165: 115–123.
37.
RamasubramanianMKBarhamOMSwaminathanV.Mechanics of a mosquito bite with applications to microneedle design. Bioinspir Biomim2008; 3(4): 046001.
38.
SahlabadiMHutapeaP.Novel design of honeybee-inspired needles for percutaneous procedure. Bioinspir Biomim2018; 13(3): 036013.
39.
LiWBelmontBShihA.Design and manufacture of polyvinyl chloride (PVC) tissue mimicking material for needle insertion. Procedia Manuf2015; 1: 866–878.
40.
IslamSShahVGiddeSTR, et al. A machine learning enabled wireless intracranial brain deformation sensing system. IEEE Trans Biomed Eng2020; 67(12): 3521–3530.
41.
MichaudA.On the magnetostatic inverse cube law and magnetic monopoles. Int J Eng Res Dev2013; 7: 50–66.
42.
AsadianAPatelRVKermaniMR.Dynamics of translational friction in needle-tissue interaction during needle insertion. Ann Biomed Eng2014; 42(1): 73–85.
43.
SahlabadiMHutapeaP.Tissue deformation and insertion force of bee-stinger inspired surgical needles. J Med Device2018; 12(3): 034501.
KhalajiIHadavandMAsadianA, et al. Analysis of needle-tissue friction during vibration-assisted needle insertion. In: IEEE/RSJ international conference on intelligent robots and systems, 2013; pp.4099–4104. New York: IEEE.
46.
WangYFuZZhaoZF, et al. Experimental study of the optimum puncture pattern of robot-assisted needle insertion into hyperelastic materials. Proc IMechE, Part H: J Engineering in Medicine2021; 235(1): 28–43.
47.
MahvashMDupontPE.Mechanics of dynamic needle insertion into a biological material. IEEE Trans Biomed Eng2010; 57(4): 934–943.
48.
WuWZhouJHuangP, et al. Antifriction mechanism of longitudinal vibration-assisted insertion in DBS. Ann Biomed Eng2021; 49(9): 2057–2065.
49.
Canudas-de-WitC.Comments on “A new model for control of systems with friction”. IEEE Trans Automat Contr1998; 43(8): 1189–1190.
50.
LeibingerAForteAETanZ, et al. Soft tissue phantoms for realistic needle insertion: a comparative study. Ann Biomed Eng2016; 44(8): 2442–2452.
51.
WuWXuCPanC, et al. Effect of vibration frequency on frictional resistance of brain tissue during vibration-assisted needle insertion. Med Eng Phys2020; 86: 35–40.
52.
TowlerMAMcGregorWRodeheaverGT, et al. Influence of cutting edge configuration on surgical needle penetration forces. Emerg Med J1988; 6(6): 475–481.
53.
CheboluAMallimoggalaA.Modelling of cutting force and deflection of medical needles with different tip geometries. Procedia Mater Sci2014; 5: 2023–2031.
54.
WebsterRJMemisevicJOkamuraAM. Design considerations for robotic needle steering. In: Proceeding of the 2005 IEEE international conference on robotics and automation. 2005; pp.3588–94. New York: IEEE. https://doi.org/10.1109/ROBOT.2005.1570666.
55.
WanGWeiZGardiL, et al. Brachytherapy needle deflection evaluation and correction. Med Phys2005; 32(4): 902–909.
56.
GiddeSTRAcharyaSRKandelS, et al. Assessment of tissue damage from mosquito-inspired surgical needle. Minim Invasive Ther Allied Technol2022; 31: 1112–1121.
