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Force modeling for needle insertion into soft tissue.

Allison M Okamura1, Christina Simone, Mark D O'Leary

  • 1Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA. aokamura@jhu.edu

IEEE Transactions on Bio-Medical Engineering
|October 20, 2004
PubMed
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This study introduces a novel force model for needle insertion into soft tissues, crucial for surgical simulations and robotic assistance. The model accurately predicts forces based on tissue properties, needle characteristics, and insertion dynamics.

Area of Science:

  • Biomechanics
  • Surgical Robotics
  • Medical Simulation

Background:

  • Accurate modeling of forces during needle insertion is vital for percutaneous therapies.
  • Current methods lack comprehensive force prediction for surgical simulation and robotic assistance.

Purpose of the Study:

  • To develop and validate a force model for needle insertion into soft tissues.
  • To provide data for enhancing surgical simulation, preoperative planning, and robotic assistance.

Main Methods:

  • Collected ex vivo bovine liver data using a robotic system with a load cell.
  • Utilized computed tomography (CT) imaging to segment insertion phases and relative velocities.
  • Modeled forces using nonlinear spring (capsule stiffness), modified Karnopp (friction), and constant (cutting) models.

Related Experiment Videos

  • Investigated needle diameter and tip effects using silicone phantoms.

    • Main Results:

    • The force model accurately captures capsule stiffness, friction, and cutting forces.
    • Bevel tips induce more bending and are sensitive to tissue density variations compared to triangular and diamond tips.
    • Increased needle diameter leads to higher insertion forces due to elevated cutting and friction.

    Conclusions:

    • The presented force model provides a robust framework for simulating needle-tissue interactions.
    • Understanding force dynamics is essential for improving the safety and efficacy of image-guided and robotic percutaneous procedures.
    • Needle geometry and tissue properties significantly influence insertion forces, requiring careful consideration in clinical applications.