articleIEEE Transactions on Biomedical EngineeringSep 28, 2004Closed access

Force Modeling for Needle Insertion Into Soft Tissue

AMAllison M. OkamuraCSChristina SimoneMOM.D. O'Leary

Johns Hopkins University · Johns Hopkins Medicine · +3 more institutions

PubMed
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Abstract

The modeling of forces during needle insertion into soft tissue is important for accurate surgical simulation, preoperative planning, and intelligent robotic assistance for percutaneous therapies. We present a force model for needle insertion and experimental procedures for acquiring data from ex vivo tissue to populate that model. Data were collected from bovine livers using a one-degree-of-freedom robot equipped with a load cell and needle attachment. computed tomography imaging was used to segment the needle insertion process into phases identifying different relative velocities between the needle and tissue. The data were measured and modeled in three parts: 1) capsule stiffness, a nonlinear spring model;…

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Topics & keywords

Topics
Keywords
  • Imaging phantom
  • Materials science
  • Biomedical engineering
  • Soft tissue
  • Stiffness
  • Bevel
  • Finite element method
  • Bending
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