title: Development of a dynamic model for bevel-tip flexible needle insertion into soft tissues.
abstract: In this paper, we develop a mechanics-based dynamic model for bevel-tip flexible needle insertion into soft tissues. We use Newton-Euler formulation to account for the effect of actuation, friction, tissue interactions, and bevel-tip forces on the needle. The soft tissue deformation is modeled by finite element analysis, whereas the mechanics-based model is used to predict needle deflections due to bevel-tip asymmetry. The proposed needle-tissue model is then experimentally evaluated by comparing the needle deflections for various insertion depths in a tissue phantom with those achieved from simulations.
authors.affiliation: Department of Electrical and Computer Engineering, Queen’s University, Kingston, ON K7L 3N6, Canada. amir.haddadi@queensu.ca
authors.forename: Amir
authors.initials: A
authors.lastname: Haddadi
authors.forename: Keyvan
authors.initials: K
authors.lastname: Hashtrudi-Zaad
mesh_terms: D003198:Computer Simulation; D020342:Finite Element Analysis; D008954:Models, Biological; D009339:Needles; D009928:Organ Specificity; D019047:Phantoms, Imaging; D012371:Robotics / Q000295:instrumentation*