title: Modelling needle forces during insertion into soft tissue.
abstract: Robot-assisted needle-based surgeries are sought to improve many operations, from brain surgery to spine and urological procedures. Force feedback from a needle can provide important guidance during needle insertion. This paper presents a new modelling method of needle force during insertion into soft tissue based on finite element simulation. This is achieved by analysing the results of a series of needle inserting experiments with different insertion velocities. The forces acting on the needle are then modelled based on the experimental results. A simulation is implemented to verify the designed model.
authors.lastname: Zhuoqi Cheng
authors.forename: Manish
authors.initials: M
authors.lastname: Chauhan
authors.forename: Brian L
authors.initials: BL
authors.lastname: Davies
authors.forename: Darwin G
authors.initials: DG
authors.lastname: Caldwell
authors.forename: Leonardo S
authors.initials: LS
authors.lastname: Mattos
mesh_terms: D003198:Computer Simulation; D004867:Equipment Design; D020342:Finite Element Analysis; D006801:Humans; D055595:Mechanical Phenomena; D008962:Models, Theoretical; D018482:Muscle, Skeletal / Q000502:physiology*; D009339:Needles