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Needle insertion into soft tissue: a survey.

Niki Abolhassani1, Rajni Patel, Mehrdad Moallem

  • 1Canadian Surgical Technologies & Advanced Robotics (CSTAR), London, Ontario, Canada. nabolhas@uwo.ca

Medical Engineering & Physics
|August 30, 2006
PubMed
Summary
This summary is machine-generated.

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This survey reviews needle insertion in soft tissue, crucial for minimally invasive procedures. Research models insertion forces, tissue deformation, and needle deflection, aiding in accurate path planning and robotic-assisted techniques.

Area of Science:

  • Medical Engineering
  • Robotics
  • Biomedical Instrumentation

Background:

  • Needle insertion in soft tissue is vital for percutaneous procedures like biopsies and brachytherapy.
  • Accurate needle placement is challenged by tissue deformation and needle deflection.
  • Understanding insertion mechanics is key to improving minimally invasive techniques.

Purpose of the Study:

  • To survey the current research landscape of needle insertion in soft tissue.
  • To examine key aspects including force modeling, tissue deformation, and robotic assistance.
  • To review developed insertion techniques based on current models.

Main Methods:

  • Review of existing literature on needle insertion in soft tissue.
  • Analysis of studies modeling needle insertion forces (stiffness, friction, cutting).

Related Experiment Videos

  • Examination of models for tissue deformation, needle deflection, and trajectory effects.

    • Main Results:

    • Axial insertion force is a sum of stiffness, frictional, and cutting forces along the needle shaft.
    • Force data can be utilized for tissue layer identification and insertion path planning.
    • Models for needle deflection and tissue deformation are being developed to enhance accuracy.

    Conclusions:

    • Current models provide insights into needle insertion mechanics and forces.
    • Modeling aids in developing improved insertion techniques and robotic-assisted systems.
    • Further research on modeling tissue interaction is essential for precise needle placement.