Research Papers

Study of Insertion Force and Deformation for Suturing With Precurved NiTi Guidewire

[+] Author and Article Information
Yancheng Wang

State Key Lab of Fluid Power Transmission
and Control,
Department of Mechanical Engineering,
Zhejiang University,
Hangzhou 310027, China
e-mail: yanchwang@zju.edu.cn

Roland K. Chen

Mechanical Engineering,
University of Michigan,
1043E HH Dow, 2300 Hayward St.,
Ann Arbor, MI 48109
e-mail: krchen@umich.edu

Bruce L. Tai

Mechanical Engineering,
University of Michigan,
1043A HH Dow, 2300 Hayward St.,
Ann Arbor, MI 48109
e-mail: krchen@umich.edu

Kai Xu

UM-SJTU Joint Institute,
Shanghai Jiao Tong University,
Shanghai 200240, China
e-mail: k.xu@sjtu.edu.cn

Albert J. Shih

Fellow ASME
Mechanical Engineering
and Biomedical Engineering,
University of Michigan,
3001E EECS, 2350 Hayward St.,
Ann Arbor, MI 48109
e-mail: shiha@umich.edu

Manuscript received July 7, 2014; final manuscript received November 20, 2014; published online February 5, 2015. Assoc. Editor: Pasquale Vena.

J Biomech Eng 137(4), 041004 (Apr 01, 2015) (7 pages) Paper No: BIO-14-1318; doi: 10.1115/1.4029311 History: Received July 07, 2014; Revised November 20, 2014; Online February 05, 2015

This research presents an experimental study evaluating stomach suturing using a precurved nickel–titanium (NiTi) guidewire for an endoscopic minimally invasive obesity treatment. Precise path planning is critical for accurate and effective suturing. A position measurement system utilizing a hand-held magnetic sensor was used to measure the shape of a precurved guidewire and to determine the radius of curvature before and after suturing. Ex vivo stomach suturing experiments using four different guidewire tip designs varying the radius of curvature and bevel angles were conducted. The changes in radius of curvature and suturing force during suturing were measured. A model was developed to predict the guidewire radius of curvature based on the measured suturing force. Results show that a small bevel angle and a large radius of curvature reduce the suturing force and the combination of small bevel angle and small radius of curvature can maintain the shape of guidewire for accurate suturing.

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Grahic Jump Location
Fig. 1

Schematic view of the precurved NiTi guidewire for endoscopic suturing of stomach and an overview of the HPMS, including a magnetic sensor in a needle cannula touching the guidewire for measurement

Grahic Jump Location
Fig. 2

Experimental setup for precurved guidewire insertion into stomach: (a) overview setup, (b) HPMS, and (c) microscopic view of the magnetic sensor protruding outside the tip of a needle cannula

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Fig. 3

Five steps of precurved guidewire fabrication and suturing

Grahic Jump Location
Fig. 4

Schematic view of guidewire penetration into the stomach: (a) small radius of curvature, and (b) large radius of curvature. (c) Model to determine the radius of curvature of the guidewire before and after penetrate out of the stomach at point C.

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Fig. 5

HPMS measured and fitted curvatures for the four guidewires without and after suturing: (a) wires I and II and (b) wires III and IV

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Fig. 6

Guidewire insertion forces versus time for wires I, II, III, and IV suturing into the stomach. (a) Wire I, (b) wire III, (c) wire II, and (d) Wire IV.



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