Muscle model for safe minimally invasive surgery

Minimally invasive surgery that is less safe for human beings cannot spread. We propose a system that avoids damaging the nerves and blood in the surgical approach to safe minimally invasive surgery. The system consists of a model of the operative part and a surgical manipulator. The model shows the pressure on the nerves and bloods in surgical procedure. The model requires precise measurement of the physical properties of soft tissue in the view of the surgical procedure. We propose new and precise model for muscle's heterogeneity properties. In this paper a viscoelasticity test is examined to some muscle samples involved in a rectus femoris muscle. Approximating each result of heterogeneity properties to the three-elements model quantitatively showed the difference in the physical properties of each part. This precise three-elements model is build in a simulation of muscle behavior. Comparison of the indentation examinations between real muscle and the simulation confirmed the effectiveness of the parameters obtained from the viscoelasticity examination. The difference between the maximum forces of the indented simulated heterogeneity and homogeneity models is about 21 %. The indented simulation resulted in a need for a heterogeneity model of muscle. In the near future proposed model will be based on the control of a surgical manipulator. Proposed system will provide safe minimally invasive surgery.