Needle insertion modelling and simulation

TitleNeedle insertion modelling and simulation
Publication TypeConference Paper
Year of Publication2002
AuthorsDiMaio, S. P., and S. E. Salcudean
Conference NameRobotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Pagination2098 - 2105 vol.2
Keywordsbiology computing, biomedical measurement, contact force information, deformation, digital simulation, finite element analysis, finite element method, force distribution, force measurement, force sensors, manipulators, medical computing, motion measurement, needle insertion, needle shaft, parameter estimation, planar motion, planar tissue deformation, skin, soft tissue phantom, two dimensional linear elastostatic material model

A methodology for estimating the force distribution that occurs along a needle shaft during insertion is described. To validate the approach, an experimental system for measuring planar tissue deformation during needle insertions has been developed and is presented. The planar motion of a soft tissue phantom is measured during needle penetration and used in conjunction with a two dimensional linear elastostatic material model, discretised using the finite element method, to derive contact force information that is not directly measurable. This approach provides a method for quantifying the needle forces and soft tissue deformations that occur during general needle trajectories in multiple dimensions. A simulation algorithm that is based upon these results is also described.


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