Multimodal Alignment of MicroCT Imaging to Vibroacoustic Signals to Validate Soft Tissue Needle Transitions in Manduca sexta

Abstract

ObjectiveRobotic-assisted needle insertions lack haptic feedback, a key sensory cue for detecting tissue transitions and regulating puncture force. Modeling this feedback requires an understanding of soft-tissue biomechanics during insertion. Vibroacoustic signals generated by needle-tissue interactions may provide an additional sensing modality, but their interpretation requires validation against anatomical ground truth. MethodsA multimodal framework was developed to correlate vibroacoustic signals with high-resolution post-puncture microCT ({micro}CT) imaging in Manduca sexta, an insect model containing interconnected soft-tissue layers. A custom clip-on prototype recorded vibroacoustic signals during manual needle insertions. Three trajectory-marking strategies were evaluated to determine 3D coordinates of soft-tissue layer crossings and to assess correlations between acoustic events and anatomical transitions. Distances between layer crossings and needle displacement were used for spatiotemporal alignment of vibroacoustic and {micro}CT data. ResultsA {micro}CT-compatible nylon string preserved puncture trajectories without artifacts and enabled high-resolution 3D reconstruction of anatomy and needle paths. Fusion of vibroacoustic and imaging data allowed identification of acoustic events associated with tissue entry, exit, and transitions. ConclusionBy integrating high-resolution {micro}CT imaging with vibroacoustic sensing, this study establishes a biologically grounded framework for validating the relationship between vibroacoustic signals and anatomical tissue transitions during needle insertion, providing a basis for future quantitative analyses. SignificanceThis work provides initial evidence for correlating vibroacoustic signals recorded during needle insertion with corresponding {micro}CT-identified tissue barriers. Because vibroacoustics offers substantially higher temporal and spatial resolution than most imaging modalities, it has the potential to improve tissue sensing and procedural accuracy in future needle-based interventions.