Mechanics-Based Model for Predicting In-Plane Needle Deflection with Multiple Bends

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Abstract

Bevel-tipped flexible needles naturally bend when inserted into soft tissue. Steering such needles along curved paths allows one to avoid anatomical obstacles and reach locations inside the human body which are unreachable with rigid needles. In this study, a mechanics-based model is presented which predicts needle deflection for a needle undergoing multiple bends during insertion into soft tissue. The model is based on a Rayleigh-Ritz formulation, and inputs to the model are a force at the needle tip and a distributed load which acts along the needle shaft. Experiments are used to evaluate the distributed load, and needle deflection is then predicted using the model. The results of the model are compared with a kinematics-based model. Maximum errors in final tip deflection are found to be 0.5 mm and 0.6 mm for the mechanics-based and kinematics-based model, respectively. Though both models are found to be comparable, the mechanics-based model can account for deflection when the needle radius of curvature is not constant (e.g., biological tissue).
Original languageEnglish
Title of host publicationProceedings of the Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2012
Place of PublicationUSA
PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
Pages69-74
Number of pages6
ISBN (Print)978-1-4577-1199-2
DOIs
Publication statusPublished - 25 Jun 2012
Event4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - TBD, Rome, Italy
Duration: 24 Jun 201227 Jun 2012
Conference number: 4

Conference

Conference4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Abbreviated titleBioRob
CountryItaly
CityRome
Period24/06/1227/06/12

Fingerprint

Needles
Mechanics
Tissue
Kinematics

Keywords

  • IR-82687
  • METIS-293167
  • Medical robotics
  • EWI-22041
  • bevel-tipped flexible needles
  • mechanics-based model
  • kinematics-based model
  • Needle insertion

Cite this

Roesthuis, R., Abayazid, M., & Misra, S. (2012). Mechanics-Based Model for Predicting In-Plane Needle Deflection with Multiple Bends. In Proceedings of the Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2012 (pp. 69-74). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/BioRob.2012.6290829
Roesthuis, Roy ; Abayazid, Momen ; Misra, Sarthak. / Mechanics-Based Model for Predicting In-Plane Needle Deflection with Multiple Bends. Proceedings of the Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2012. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2012. pp. 69-74
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title = "Mechanics-Based Model for Predicting In-Plane Needle Deflection with Multiple Bends",
abstract = "Bevel-tipped flexible needles naturally bend when inserted into soft tissue. Steering such needles along curved paths allows one to avoid anatomical obstacles and reach locations inside the human body which are unreachable with rigid needles. In this study, a mechanics-based model is presented which predicts needle deflection for a needle undergoing multiple bends during insertion into soft tissue. The model is based on a Rayleigh-Ritz formulation, and inputs to the model are a force at the needle tip and a distributed load which acts along the needle shaft. Experiments are used to evaluate the distributed load, and needle deflection is then predicted using the model. The results of the model are compared with a kinematics-based model. Maximum errors in final tip deflection are found to be 0.5 mm and 0.6 mm for the mechanics-based and kinematics-based model, respectively. Though both models are found to be comparable, the mechanics-based model can account for deflection when the needle radius of curvature is not constant (e.g., biological tissue).",
keywords = "IR-82687, METIS-293167, Medical robotics, EWI-22041, bevel-tipped flexible needles, mechanics-based model, kinematics-based model, Needle insertion",
author = "Roy Roesthuis and Momen Abayazid and Sarthak Misra",
note = "10.1109/BioRob.2012.6290829",
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Roesthuis, R, Abayazid, M & Misra, S 2012, Mechanics-Based Model for Predicting In-Plane Needle Deflection with Multiple Bends. in Proceedings of the Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2012. IEEE ROBOTICS AND AUTOMATION SOCIETY, USA, pp. 69-74, 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, Rome, Italy, 24/06/12. https://doi.org/10.1109/BioRob.2012.6290829

Mechanics-Based Model for Predicting In-Plane Needle Deflection with Multiple Bends. / Roesthuis, Roy; Abayazid, Momen; Misra, Sarthak.

Proceedings of the Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2012. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2012. p. 69-74.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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N2 - Bevel-tipped flexible needles naturally bend when inserted into soft tissue. Steering such needles along curved paths allows one to avoid anatomical obstacles and reach locations inside the human body which are unreachable with rigid needles. In this study, a mechanics-based model is presented which predicts needle deflection for a needle undergoing multiple bends during insertion into soft tissue. The model is based on a Rayleigh-Ritz formulation, and inputs to the model are a force at the needle tip and a distributed load which acts along the needle shaft. Experiments are used to evaluate the distributed load, and needle deflection is then predicted using the model. The results of the model are compared with a kinematics-based model. Maximum errors in final tip deflection are found to be 0.5 mm and 0.6 mm for the mechanics-based and kinematics-based model, respectively. Though both models are found to be comparable, the mechanics-based model can account for deflection when the needle radius of curvature is not constant (e.g., biological tissue).

AB - Bevel-tipped flexible needles naturally bend when inserted into soft tissue. Steering such needles along curved paths allows one to avoid anatomical obstacles and reach locations inside the human body which are unreachable with rigid needles. In this study, a mechanics-based model is presented which predicts needle deflection for a needle undergoing multiple bends during insertion into soft tissue. The model is based on a Rayleigh-Ritz formulation, and inputs to the model are a force at the needle tip and a distributed load which acts along the needle shaft. Experiments are used to evaluate the distributed load, and needle deflection is then predicted using the model. The results of the model are compared with a kinematics-based model. Maximum errors in final tip deflection are found to be 0.5 mm and 0.6 mm for the mechanics-based and kinematics-based model, respectively. Though both models are found to be comparable, the mechanics-based model can account for deflection when the needle radius of curvature is not constant (e.g., biological tissue).

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Roesthuis R, Abayazid M, Misra S. Mechanics-Based Model for Predicting In-Plane Needle Deflection with Multiple Bends. In Proceedings of the Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2012. USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. 2012. p. 69-74 https://doi.org/10.1109/BioRob.2012.6290829