Modeling and Simulation of Flexible Needle Insertion Into Soft Tissue Using Modified Local Constraints

Abstract

Needle insertion is a widely used medical procedure in various minimally invasive surgeries. The estimation of the coupled needle deflection and tissue deformation during the needle insertion procedure is crucial to the success of the surgery. In this work, a novel needle deflection–tissue deformation coupling model is proposed for flexible needle insertion into soft tissue. Based on the assumption that the needle deflection is small comparing to the length of the insertion, the needle–tissue interaction model is developed based on the modified local constraint method, where the interactive forces between the needle and the tissue are balanced through integration of needle–force and tissue–force relationships. A testbed is constructed and the experiments are designed to validate the proposed method using artificial phantom with markers. Based on the experimental analysis, the cutting and friction forces are separated from the force–time curves and used as the inputs into the proposed model. The trajectories of the markers inside the soft tissue are recorded by a CCD camera to compare with the simulation trajectories. The errors between the experimental and simulation trajectories are less than 0.8 mm. The results demonstrate that the proposed method is effective to model the needle insertion procedure.

Soft Tissue Deformation Modeling in the Procedure of Needle Insertion: A Kriging-based Method

“…The input and output data are prepared by running the finite element program 20 times, as in [32]. To establish a Kriging model, 19 sets of observation points ([X in (1, :…”

“…The output dataset is generated by running the needle-tissue coupling FE model presented in [32], which is used as the ground truth of the Kriging-based model.…”

Experimental study of the optimum puncture pattern of robot-assisted needle insertion into hyperelastic materials

“…Study on interaction mechanics involving needle-tissue modeling, 20–23 puncture force, 7,21 needle deflection, 20 tissue deformation, 24 mechanical behavior of tissue, 25–27 and other aspects (e.g. force control algorithms) 28–30 has been the research focus in the field of robot-assisted insertion.…”

Modeling of geometry and insertion force of a new lancet medical needle

“…[12][13][14][15][16][17][18][19][20][21][22][23] On the basis of the geometry of the needle tip and its fabrication method, two parameters-inclination angle and rake angle-are used to develop the mathematical models of needle. 12,[14][15][16][17][18] Many studies have been conducted about the insertion force of needle. [21][22][23][24][25][26][27][28][29][30][31] Moore et al 20 developed a predictive force model based on the inclination angle and the rake angle of a needle's cutting edge to predict the insertion force and studied a novel needle cutting-edge geometry for end-cut biopsy and curved needle tips based on rake and inclination angles.…”

“…17,24 Studies have been conducted to investigate the effects of needle tip geometry on the insertion force and needle sharpness. [12][13][14][15][16][17][18][25][26][27][28][29][30][31] Chebolu et al 25 investigated the relationship between the insertion forces and the cuttingedge geometry and proposed two novel needles. Wang et al 24 described the fabrication procedure of the conventional lancet needle and developed a mathematical model to calculate the inclination and rake angles along the cutting edge of this needle.…”