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Modeling and simulation of flexible needles.

Orcun Goksel¹, Ehsan Dehghan, Septimiu E Salcudean

¹The Department of Electrical and Computer Engineering, University of British Columbia, 2332 Main Mall, Vancouver, BC, Canada. orcung@ece.ubc.ca

Medical Engineering & Physics

|August 14, 2009

Summary

Accurate needle bending models are crucial for medical training simulators and surgical planning. An angular spring model proved most efficient and accurate for simulating brachytherapy needle bending during procedures.

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Area of Science:

Medical simulation
Robotics
Biomechanical engineering

Background:

Needle insertion in clinical procedures is hampered by tissue interaction, causing needle bending and inaccurate targeting.
Developing accurate needle bending models is essential for effective training simulators and precise needle path planning.

Purpose of the Study:

To present and compare three distinct models for simulating needle deformations during insertion.
To evaluate the accuracy and efficiency of each model against experimental data.

Main Methods:

Finite element method (FEM) models incorporating geometric nonlinearity.
An angular spring model simulating needle segments as rigid bars connected by springs.
Experimental validation using lateral tip force application on a brachytherapy needle.

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Main Results:

The angular spring model demonstrated superior accuracy in simulating brachytherapy needle bending.
This model was also the most computationally efficient among the three presented.
Model parameters were identified and simulation results closely matched experimental data.

Conclusions:

The angular spring model offers a highly accurate and efficient solution for simulating needle bending.
This model can significantly enhance the fidelity of needle insertion simulators and improve surgical planning tools.