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Updated: Mar 29, 2026

Three-Dimensional Finger Motion Tracking during Needling: A Solution for the Kinematic Analysis of Acupuncture Manipulation

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Dynamic Force Modeling and Lateral Perturbation Analysis of Needle Insertion into Soft Tissues.

Yao Wang¹, Xin Xie¹, Yingcai Wan²

¹Logistics Engineering College, Shanghai Maritime University, Shanghai 201306, China.

Bioengineering (Basel, Switzerland)

|March 28, 2026

Summary

A new dynamic force model accurately simulates needle-soft tissue interaction during robotic surgery. This model, validated experimentally, enhances robot-assisted procedures and surgical training simulations.

Keywords:

biomechanical simulation force modeling lateral perturbation soft tissue puncture statistical analysis

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The Quantification of Injectability by Mechanical Testing

The Quantification of Injectability by Mechanical Testing

Published on: May 13, 2020

Area of Science:

Robotics
Biomechanics
Surgical Engineering

Background:

Accurate modeling of soft tissue puncture forces is vital for robot-assisted minimally invasive surgery.
Understanding needle-tissue interaction aids surgical planning, robotic control, and biomechanical simulations.

Purpose of the Study:

To develop a dynamic multi-component force model for needle-soft tissue interaction.
To integrate cutting, stiffness, and frictional forces for realistic puncture modeling.
To enhance model robustness and realism with a lateral periodic disturbance mechanism.

Main Methods:

A dynamic force model incorporating cutting, stiffness, and friction was developed.
A lateral periodic disturbance mechanism was added to the simulation framework.
The model was validated through puncture experiments on porcine liver and renal tissues.
Finite element simulations were performed using ANSYS software.
Statistical analysis (ANOVA, Tukey's HSD) assessed the impact of angle and speed.

Main Results:

The model demonstrated strong consistency with experimental data (R²=0.96, RMSE<0.13 N).
Insertion angle and speed significantly impacted puncture forces (p < 0.05).
Porcine liver showed more consistent biomechanical behavior than renal tissue under perturbation.
The lateral disturbance mechanism improved simulation realism.

Conclusions:

A validated dynamic multi-component force model for soft tissue puncture was established.
The model provides a reliable foundation for intelligent robot-assisted puncture systems.
This research supports the development of high-fidelity simulation-based surgical training platforms.