A Velocity-Dependent Model for Needle Insertion in Soft Tissue

Abstract

Abstract. Models that predict the soft tissue deformation caused by needle insertion could improve the accuracy of procedures such as brachytherapy and needle biopsy. Prior work on needle insertion modeling has focused on static deformation; the experiments presented here show that dynamic effects such as relaxation are important. An experimental setup is described for recording and measuring the deformation that occurs with needle insertion into a soft tissue phantom. Analysis of the collected data demonstrates the time-and velocity-dependent nature of the deformation. Deformation during insertion is shown to be well represented using a velocity-dependent force function with a linear elastic finite element model. The model's accuracy is limited to the period during needle motion, indicating that a viscoelastic tissue model may be required to capture tissue relaxation after the needle stops.

Wasp-Inspired Needle Insertion with Low Net Push Force

“…A parameter possibly contributing to the observed proportional relation is the elastic deformation of the gelatine: when all four needle parts are protruded, the cart moves slightly backwards due to the gelatine springing back. It is possible that this effect increases with gelatine concentration, as friction increases with gelatine concentration more than elasticity does [29][30][31]. Cart inertia and bearing friction possibly also contribute to the observed proportional relation between SR tot and gelatine concentration.…”

Robotic Needle Steering: Design, Modeling, Planning, and Image Guidance

“…Several research groups have developed physics-based needle and soft tissue interaction models [7,16,18,31,32,49]. A general survey of surgical tool and tissue interaction models, which describes both physics-and non-physics-based interaction models, is provided in [43].…”

Motion Planning Under Uncertainty for Image-guided Medical Needle Steering

“…Past work has investigated needle insertion planning in situations where soft tissue deformations are significant and can be modeled. Several groups have estimated tissue material properties and needle/tissue interaction parameters using tissue phantoms (DiMaio and Salcudean, 2003a;Crouch et al, 2005) and animal experiments (Kataoka et al, 2002;Simone and Okamura, 2002;Okamura et al, 2004;Kobayashi et al, 2005;Heverly et al, 2005;Hing et al, 2007). Our past work addressed planning optimal insertion location and insertion distance for rigid symmetric-tip needles to compensate for 2-D tissue deformations predicted using a finite element model (Alterovitz et al, 2003a,b,c).…”