Needle insertion modeling and simulation

TitleNeedle insertion modeling and simulation
Publication TypeJournal Article
Year of Publication2003
AuthorsDiMaio, S. P., and S. E. Salcudean
JournalRobotics and Automation, IEEE Transactions on
Pagination864 - 875
Date Publishedoct.
Keywordsbiological tissues, biomechanics, boundary conditions, condensation technique, contact force information, elasticity, end-effector, finite element analysis, finite element method, force displacement relationship, force distribution, general needle trajectories, graphical simulations, haptic real-time simulations, low-rank matrix updates, manipulators, material coordinate frames, medical image processing, medical robotics, multiple dimensions, needle forces, needle insertion modeling, needle insertion simulation, needle shaft, phantoms, physiological models, planar robotic manipulator, planar tissue phantom deformation, real-time systems, soft tissue deformations, stiffness matrix changes, surgery, two-dimensional linear elastostatic material model, very fast interactive simulations, Young's modulus

A methodology for estimating the force distribution that occurs along a needle shaft during insertion is described. An experimental system for measuring planar tissue phantom deformation during needle insertions has been developed and is presented. A two-dimensional linear elastostatic material model, discretised using the finite element method, is used 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. The needle force distribution is used for graphical and haptic real-time simulations of needle insertion. Since the force displacement relationship is required only along the needle, a condensation technique is shown to achieve very fast interactive simulations. Stiffness matrix changes corresponding to changes in boundary conditions and material coordinate frames are performed using low-rank matrix updates.


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