Modelling needle forces during insertion into soft tissue

Zhuoqi Cheng*, Manish Chauhan, Brian L. Davies, Darwin G. Caldwell, Leonardo S. Mattos

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

Robot-assisted needle-based surgeries are sought to improve many operations, from brain surgery to spine and urological procedures. Force feedback from a needle can provide important guidance during needle insertion. This paper presents a new modelling method of needle force during insertion into soft tissue based on finite element simulation. This is achieved by analysing the results of a series of needle inserting experiments with different insertion velocities. The forces acting on the needle are then modelled based on the experimental results. A simulation is implemented to verify the designed model.

Original languageEnglish
Title of host publication2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015
Volume2015
PublisherIEEE
Publication date4. Nov 2015
Pages4840-4844
Article number7319477
ISBN (Electronic)9781424492718
DOIs
Publication statusPublished - 4. Nov 2015
Externally publishedYes
Event37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015 - Milan, Italy
Duration: 25. Aug 201529. Aug 2015

Conference

Conference37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015
Country/TerritoryItaly
CityMilan
Period25/08/201529/08/2015
SeriesProceedings of the International Conference of the IEEE Engineering in Medicine and Biology Society
Volume2015-November
ISSN2375-7477

Keywords

  • Computer Simulation
  • Equipment Design
  • Finite Element Analysis
  • Humans
  • Mechanical Phenomena
  • Models, Theoretical
  • Muscle, Skeletal/physiology
  • Needles

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