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

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.