Soft tissue models are frequently used in surgical simulation [1] and have recently been applied to online tissue identification [2]. Despite this wide use, the fundamental premise of these models may be inaccurate. Current models are derived and validated from ex vivo tissue data, which literature suggests may be different from in vivo tissue [3]. Little work has been done to determine the true model parameters for tissue property decay, or to verify whether or not these model changes over time are significant. In this work, we assess the uniaxial stress–strain tissue properties of porcine liver for a 24-hr period postmortem.

A modified da Vinci Si EndoWrist® surgical grasper was used for all porcine data collection as shown in Fig. 1. A detailed design of this “smart” tool is found in Ref. [4]. Force and...

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