Soft Tissue Deformation Estimation Model Based on Spatial-Temporal Kriging for Needle Insertion Procedure

Needle deflection and soft tissue deformation are the most important factors that affect accuracy in needle insertion. Based on the quasi-static thinking and needle forces, an improved virtual spring model and a finite element method are presented to analyze needle deflection and soft tissue deformation when a needle is inserted into soft tissue. According to the spring model, the trajectory of the needle tip is calculated with MATLAB using different parameters. With the superposed element method, the two and three dimensional quasi-static finite element models are created to simulate the dynamic process of soft tissue deformation using ANSYS software. The two methods will be available for steering the flexible needle to hit the target and avoid the obstacles precisely in the robot-assisted needle insertion.

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Feasibiliy of optical detection of soft tissue deformation during needle insertion

10.1117/12.912538 ◽

2012 ◽

Cited By ~ 1

Author(s):

Christoph Otte ◽

Gereon Hüttmann ◽

Alexander Schlaefer

Keyword(s):

Soft Tissue ◽

Optical Detection ◽

Needle Insertion ◽

Tissue Deformation ◽

Soft Tissue Deformation

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The PBD Model Based Simulation for Soft Tissue Deformation in Virtual Surgery

Journal of Physics Conference Series ◽

10.1088/1742-6596/1621/1/012043 ◽

2020 ◽

Vol 1621 ◽

pp. 012043

Author(s):

Yanan Liu ◽

Chengbin Guan ◽

Jianhui Li ◽

Xueli Yu ◽

Shuang Zhang

Keyword(s):

Soft Tissue ◽

Virtual Surgery ◽

Tissue Deformation ◽

Soft Tissue Deformation ◽

Model Based

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Soft Tissue Deformation Model Based on Marquardt Algorithm and Enrichment Function

Computer Modeling in Engineering & Sciences ◽

10.32604/cmes.2020.09735 ◽

2020 ◽

Vol 124 (3) ◽

pp. 1131-1147

Author(s):

Xiaorui Zhang ◽

Xuefeng Yu ◽

Wei Sun ◽

Aiguo Song

Keyword(s):

Soft Tissue ◽

Deformation Model ◽

Tissue Deformation ◽

Soft Tissue Deformation ◽

Model Based ◽

Marquardt Algorithm ◽

Enrichment Function

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

Journal of Manufacturing Science and Engineering ◽

10.1115/1.4034134 ◽

2016 ◽

Vol 138 (12) ◽

Cited By ~ 7

Author(s):

Dedong Gao ◽

Yong Lei ◽

Bin Lian ◽

Bin Yao

Keyword(s):

Soft Tissue ◽

Interaction Model ◽

Ccd Camera ◽

Coupling Model ◽

Needle Insertion ◽

Medical Procedure ◽

Tissue Deformation ◽

Friction Forces ◽

Needle Deflection ◽

Insertion Procedure

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.

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