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

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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Simulation for Needle Deflection and Soft Tissue Deformation in Needle Insertion

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.139-141.889 ◽

2010 ◽

Vol 139-141 ◽

pp. 889-892

Author(s):

De Dong Gao ◽

Hao Jun Zheng

Keyword(s):

Finite Element ◽

Soft Tissue ◽

Three Dimensional ◽

Needle Insertion ◽

Tissue Deformation ◽

Spring Model ◽

Ansys Software ◽

Soft Tissue Deformation ◽

Needle Deflection ◽

Element Method

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

Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering - Mobile Wireless Middleware, Operating Systems and Applications ◽

10.1007/978-3-030-62205-3_1 ◽

2020 ◽

pp. 3-18

Author(s):

Linze Wang ◽

Juntao Zhang ◽

Mengxiao Zhao ◽

Dedong Gao

Keyword(s):

Soft Tissue ◽

Needle Insertion ◽

Tissue Deformation ◽

Estimation Model ◽

Soft Tissue Deformation ◽

Model Based ◽

Insertion Procedure

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STUDY OF THE TARGETING ERROR FOR PERCUTANEOUS NEEDLE INSERTION INTO SOFT PHANTOM MATERIAL

Journal of Mechanics in Medicine and Biology ◽

10.1142/s0219519416500056 ◽

2016 ◽

Vol 16 (02) ◽

pp. 1650005 ◽

Cited By ~ 1

Author(s):

XINGJI WANG ◽

SHAN JIANG

Keyword(s):

Soft Tissue ◽

Interaction Model ◽

Needle Insertion ◽

Uniaxial Tensile ◽

Fe Model ◽

Target Displacement ◽

Uniaxial Tensile Strength ◽

Needle Deflection ◽

Two Factors ◽

Insertion Process

Percutaneous needle insertion is widely used in minimally invasive procedures, in which the flexible needle is steered to reach a specific target inside the human body. The targeting error is due to a combination of flexible needle deflection and target displacement in soft tissue and only a very limited number of studies have focused on both two factors. This paper presents a targeting error calculation method which incorporates an energy-based needle deflection model into a soft tissue finite-element (FE) model. The needle insertion process is discretized into several increments on the basis of the quasi-static method. Needle deflection in each step is obtained by the needle-soft tissue interaction model which is applied into the FE model as the displacement input. A 2D-planar FE model is used to model the target displacement by imposing needle distribution forces and needle deflection at different steps on the appointed reference nodes. The soft tissue is modeled as a non-linear hyperelastic material with geometrical non-linearity. Uniaxial tensile strength tests are utilized to determine the soft tissue parameters. Needle targeting experiments are conducted to validate the simulation results. Results show that the proposed method can predict the needle targeting errors while the averaged prediction error stays below 0.4[Formula: see text]mm. At last, we conduct different experiments to compensate the obtained targeting error and thus, reaching preferable effects.

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Needle Tracking and Deflection Prediction for Robot-Assisted Needle Insertion Using 2D Ultrasound Images

Journal of Medical Robotics Research ◽

10.1142/s2424905x16400018 ◽

2016 ◽

Vol 01 (01) ◽

pp. 1640001 ◽

Cited By ~ 13

Author(s):

Michael Waine ◽

Carlos Rossa ◽

Ron Sloboda ◽

Nawaid Usmani ◽

Mahdi Tavakoli

Keyword(s):

Interaction Model ◽

Needle Insertion ◽

Steering System ◽

Target Area ◽

Ultrasound Images ◽

Tissue Deformation ◽

Robot Assisted ◽

Needle Deflection ◽

The Us ◽

2D Ultrasound

In many types of percutaneous needle insertion surgeries, tissue deformation and needle deflection can create significant difficulties for accurate needle placement. In this paper, we present a method for automatic needle tracking in 2D ultrasound (US) images, which is used in a needle–tissue interaction model to estimate current and future needle tip deflection. This is demonstrated using a semi-automatic needle steering system. The US probe can be controlled to follow the needle tip or it can be stopped at an appropriate position to avoid tissue deformation of the target area. US images are used to fully parameterize the needle-tissue model. Once the needle deflection reaches a pre-determined threshold, the robot rotates the needle to correct the tip’s trajectory. Experimental results show that the final needle tip deflection can be estimated with average accuracies between 0.7[Formula: see text]mm and 1.0[Formula: see text]mm for insertions with and without rotation. The proposed method provides surgeons with improved US feedback of the needle tip deflection and minimizes the motion of the US probe to reduce tissue deformation of the target area.

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

Journal of Computational and Nonlinear Dynamics ◽

10.1115/1.4030747 ◽

2016 ◽

Vol 11 (1) ◽

Cited By ~ 5

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.

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MECHANICS-BASED BEVEL-TIP NEEDLE DEFLECTION MODEL DURING NEEDLE–SOFT TISSUE INTERACTION PROCESS

Journal of Mechanics in Medicine and Biology ◽

10.1142/s0219519414500766 ◽

2014 ◽

Vol 14 (05) ◽

pp. 1450076 ◽

Cited By ~ 3

Author(s):

SHAN JIANG ◽

XINGJI WANG ◽

ZHILIANG SU

Keyword(s):

Interaction Model ◽

Needle Insertion ◽

Force Model ◽

Insertion Force ◽

Simulation Accuracy ◽

Tissue Properties ◽

Tissue Interaction ◽

Needle Deflection ◽

Tissue Equivalent ◽

Needle Insertion Force

Flexible needle insertion is performed in many clinical and brachytherapy procedures. Needle bending which results from needle–tissue interaction and needle flexibility plays a pivotal role in implantation accuracy. In this paper, a needle insertion force model and a mechanics-based needle deflection model are applied in simulating the real needle insertion process. Using tissue-equivalent materials, the needle force model is acquired from needle insertion experiments. Based on the principle of minimum potential energy, a mechanics-based model is developed to calculate needle deflection. The needle deflection model incorporates needle insertion forces model, needle–tissue interaction model, needle geometric, and tissue properties. The bending–stretching coupling and geometric non-linearity of the flexible needle are both taken into consideration in the needle deflection model. A modified p–y curves method is first introduced in depicting the lateral needle–tissue interaction. The comparison between experimental and simulation results of needle deflection shows that our mechanics-based model can simulate the deflection of the flexible needle with reasonable accuracy. Parametric studies on different geometry properties of needles show that our mechanics-based model can precisely predict the needle deflection when more than one parameter is changed. In addition, as the needle deflection results are obtained numerically by Rayleigh–Ritz approach, further study on the form of deflection formulation leads to the conclusion that choosing a higher order polynomial can improve the overall simulation accuracy.

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