Motion Planning in Deformable Soft Tissue with Applications to Needle Insertion

2008 ◽  
pp. 27-44
Author(s):  
Ron Alterovitz ◽  
Ken Goldberg
Keyword(s):  
Soft Tissue ◽  
Motion Planning ◽  
Needle Insertion

scholarly journals 3D Dynamic Motion Planning for Robot-Assisted Cannula Flexible Needle Insertion into Soft Tissue

10.5772/64199 ◽  
2016 ◽  
Vol 13 (3) ◽  
pp. 121 ◽  
Author(s):  
Yan-Jiang Zhao ◽  
Wen-Qiang Wu ◽  
Yong-De Zhang ◽  
Rui-Xue Wang ◽  
Jing-Chun Peng ◽  
...  
Keyword(s):  
Soft Tissue ◽  
Motion Planning ◽  
Needle Insertion ◽  
Robot Assisted ◽  
Dynamic Motion ◽  
Dynamic Motion Planning

Mechanics-Based Interactive Modeling for Medical Flexible Needle Insertion in Consideration of Nonlinear Factors

2016 ◽  
Vol 11 (1) ◽  
Author(s):  
Shan Jiang ◽  
Xingji Wang
Keyword(s):  
Soft Tissue ◽  
Kinematic Model ◽  
Needle Insertion ◽  
Winkler Foundation ◽  
Nonlinear Characteristics ◽  
Deformation Control ◽  
Needle Deflection ◽  
Iteration Cycle ◽  
Foundation Model ◽  
Sensitivity Studies

A mechanics-based model of flexible needle insertion into soft tissue is presented in this paper. Different from the existing kinematic model, a new model has been established based on the quasi-static principle, which also incorporates the dynamics of needle motions. In order to increase the accuracy of the model, nonlinear characteristics of the flexible needle and the soft tissue are both taken into account. The nonlinear Winkler foundation model and the modified Euler–Bernoulli theory are applied in this study, providing a theoretical framework to study insertion and deformation of needles. Galerkin method and iteration cycle analysis are applied in solving a series of deformation control equations to obtain the needle deflection. The parameters used in the mechanics-based model are obtained from the needle force and needle insertion experiment. Sensitivity studies show that the model can respond reasonably to changes in response to variations in different parameters. A 50 mm needle insertion simulation and a 50 mm corresponding needle insertion experiment are conducted to prove the validity of the model. At last, a study on different needle tip bevel demonstrates that the mechanics-based model can precisely predict the needle deflection when more than one parameter is changed. The solution can also be used in optimizing trajectory of the needle tip, enabling the needle to reach the target without touching important physiological structures such as blood vessels with the help of dynamic trajectory planning.

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

2014 ◽  
Author(s):  
Yong Lei ◽  
Bin Lian
Keyword(s):  
Soft Tissue ◽  
Axial Force ◽  
Equilibrium Position ◽  
Radial Direction ◽  
Needle Insertion ◽  
Radial Force ◽  
Spring Model ◽  
Local Constraint ◽  
Nodal Points ◽  
Constraint Method

This paper presents a new simulation model for flexible needle insertion into soft tissue using modified local constraint method. In this work, we assume deformation of the needle is relatively small, therefore, the soft tissue deformation in the radial direction is far less than it is in the axial direction. Under the assumptions above, the spring model in the radial direction of the needle is established and applied in the puncture procedure to obtain the equilibrium position of the needle-tissue system. The FEM model for the simulation includes three iterative steps: 1. Distribute the axial force on the needle into tissue nodes, and add radial constraint on tissue nodes that are connected with needle’s shaft, then calculate the whole displacement of the tissue nodes; 2. Based on the whole displacement of all nodal points and the effective stiffness matrix, we get the radial force on the tissue, then we use the spring model in the radial direction to get the equilibrium position; 3. Compound the radial and axial force on the tissue nodal points to obtain the actual displacement. Simulation results are presented and discussed.

Needle insertion into soft tissue: A survey

2007 ◽  
Vol 29 (4) ◽  
pp. 413-431 ◽  
Author(s):  
Niki Abolhassani ◽  
Rajni Patel ◽  
Mehrdad Moallem
Keyword(s):  
Soft Tissue ◽  
Needle Insertion

109 Influence of hydrostatic pressure of soft tissue to friction force during needle insertion using Eulerian hydrocode

2009 ◽  
Vol 2008.21 (0) ◽  
pp. 17-18
Author(s):  
Hiroyuki KATAOKA ◽  
Shigeho NODA ◽  
Hideo YOKOTA ◽  
Shu TAKAGI ◽  
Ryutaro HIMENO ◽  
...  
Keyword(s):  
Hydrostatic Pressure ◽  
Soft Tissue ◽  
Friction Force ◽  
Needle Insertion
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