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Flexible needle-tissue interaction modeling with depth-varying mean parameter: preliminary study.

Kai Guo Yan¹, Tarun Podder, Yan Yu

¹Nanyang Technological University, Singapore 639798, Singapore. yank0001@ntu.edu.sg

IEEE Transactions on Bio-Medical Engineering

|April 4, 2009

Summary

This summary is machine-generated.

This study introduces a novel spring-beam-damper model for flexible needle steering, enhancing accuracy by accounting for tissue properties and enabling precise navigation around obstacles.

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Area of Science:

Robotics
Medical Engineering
Biomedical Devices

Background:

Flexible needle steering is crucial for accurate medical targeting, compensating for issues like needle bending and tissue deformation.
Current methods face challenges with obstacles such as bone or sensitive tissues, limiting access to certain anatomical areas.

Purpose of the Study:

To propose a dynamic model for flexible needle steering during tissue interaction.
To develop an online parameter estimation method for real-time adaptation to tissue properties.
To enhance the precision and control of flexible needles in complex environments.

Main Methods:

A spring-beam-damper model was developed to simulate needle-tissue dynamics.
Depth-varying mean parameters were used to model tissue inhomogeneity.
Local polynomial approximations and a modified least-square method with a forgetting factor were employed for online parameter estimation.

Main Results:

The proposed spring-beam-damper model effectively describes needle-tissue interaction dynamics.
The online parameter estimator successfully adapted to changing tissue properties.
Preliminary experiments validated the steering model and parameter estimation approach.

Conclusions:

The developed model and online estimator provide a robust framework for flexible needle steering.
This approach improves targeting accuracy and enables navigation in challenging anatomical regions.
Future work will focus on further experimental validation and integration into clinical applications.