Needle insertion modeling through several tissue layers

Authors:
Alexandre Carra;Juan Carlos Avila-Vilchis
Affiliations:
Universidad Autónoma del Estado de México, Facultad de Ingenieria, Estado de México, Mexico;Universidad Autónoma del Estado de México, Facultad de Ingenieria, Estado de México, Mexico
Venue:
CAR'10 Proceedings of the 2nd international Asia conference on Informatics in control, automation and robotics - Volume 1
Year:
2010

Citing 3
Cited 0

The Effect of Visual and Haptic Feedback on Manual and Teleoperated Needle Insertion

MICCAI '02 Proceedings of the 5th International Conference on Medical Image Computing and Computer-Assisted Intervention-Part I
Measurement of the Tip and Friction Force Acting on a Needle during Penetration

MICCAI '02 Proceedings of the 5th International Conference on Medical Image Computing and Computer-Assisted Intervention-Part I
A velocity-dependent model for needle insertion in soft tissue

MICCAI'05 Proceedings of the 8th international conference on Medical image computing and computer-assisted intervention - Volume Part II

Quantified Score

Hi-index	0.00

Visualization

Abstract

The modeling of needle insertion into tissues is important for simulation of this procedure and for robotic technologies applied to percutaneous therapy. In this article, we present a first attempt to develop a general force model for the needle insertion throw different tissue layers (skin, fat and muscle) to reach an internal organ (the liver, for instance) with objectives of control, looking for an optimal (less invasive and more accurate) puncture task. The forces are divided into three parts: stiffness, a nonlinear model; friction, a modified Dahl model; and cutting, a constant for a given tissue. Results show that the overall shape of forces presents the main phases of a needle insertion through several tissue layer.