Research on Force Analysis and Path Planning of Flexible Needle Puncture Bending Modelling

Abstract

Through the force analysis of the flexible needle puncture process, the corresponding mechanical model is established, and the main factors that cause the flexible needle bending deformation are analysed, and the bending model of the flexible needle puncture process is initially established. By discretizing the bending model, combined with experimental verification, a relatively complete bending model is obtained. Based on the RRT algorithm, the goal guidance algorithm, the optimal path selection algorithm, etc. are proposed, combined with the bending model of the flexible needle, and an improved RRT algorithm suitable for the flexible needle insertion method is established. Through simulation analysis and combined with experimental verification, it is concluded that path planning based on the improved RRT algorithm can bypass important human organs and soft tissues more flexibly, accurately puncture the target position, and achieve relatively safe surgery.

Planning of Medical Flexible Needle Motion in Effective Area of Clinical Puncture

“…During needle penetration, the needle has only two degrees of freedom, axial displacement v and axial rotation ( and ), and the asymmetric force exerted by the bevel due to the asymmetry of the piercing needle tip causes the needle to produce a bent trajectory, as shown in Figure 4 . The maximum curvature of the needle in the tissue, , is influenced by the bevel angle of the needle tip and the properties of the tissue [ 23 ], and the curvature of the needle motion neglecting the properties of the tissue depends entirely on the needle tip bevel angle [ 24 ].…”