Mechanics of needle-tissue interaction

Roy Roesthuis; Youri van Veen; Alex Jahya; Sarthak Misra

doi:10.1109/IROS.2011.6094969

Mechanics of needle-tissue interaction

Roy Roesthuis, Youri van Veen, Alex Jahya, Sarthak Misra

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

58 Citations (Scopus)

Abstract

When a needle is inserted into soft tissue, interac- tion forces are developed at the needle tip and along the needle shaft. The needle tip force is due to cutting of the tissue, and the force along the needle shaft is due to friction between needle and tissue. In this study, the friction force is determined for needles inserted into a gelatine phantom at insertion velocities of 10 mm/s and 20 mm/s. The friction force is found to be dependent on the insertion velocity. The needle tip force is calculated using the friction and insertion force, and is used as input for a mechanics-based model which predicts the amount of needle deflection. In the model, the needle is considered to be a cantilever beam supported by springs which have needle- tissue interaction stiffness (Ke). The value of the interaction stiffness is evaluated by comparing results from experiments and simulation. A mechanical needle insertion device is used to insert needles. Needle deflection during insertion is determined using a needle tip tracking algorithm. Results of this study provide insight into the mechanics of needle-tissue interaction, and can be used in studies for robotically steering needles into soft tissue.

Original language	Undefined
Title of host publication	International Conference on Intelligent Robots and Systems (IROS 2011)
Place of Publication	USA
Publisher	IEEE ROBOTICS AND AUTOMATION SOCIETY
Pages	2557-2563
Number of pages	7
ISBN (Print)	9781612844541
DOIs	https://doi.org/10.1109/IROS.2011.6094969
Publication status	Published - 25 Sep 2011
Event	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011 - San Francisco, United States Duration: 25 Sep 2011 → 30 Sep 2011 http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2011/IROS/www.iros2011.org/index.html

Publication series

Name
Publisher	IEEE Robotics and Automation Society
ISSN (Print)	2153-0858

Conference

Conference	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011
Abbreviated title	iros
Country	United States
City	San Francisco
Period	25/09/11 → 30/09/11
Internet address	http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2011/IROS/www.iros2011.org/index.html

Keywords

IR-79696
EWI-21527
METIS-285245

Access to Document

10.1109/IROS.2011.6094969

http://eprints.eemcs.utwente.nl/secure2/21527/01/roesthuis2011.pdf

Cite this

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title = "Mechanics of needle-tissue interaction",

abstract = "When a needle is inserted into soft tissue, interac- tion forces are developed at the needle tip and along the needle shaft. The needle tip force is due to cutting of the tissue, and the force along the needle shaft is due to friction between needle and tissue. In this study, the friction force is determined for needles inserted into a gelatine phantom at insertion velocities of 10 mm/s and 20 mm/s. The friction force is found to be dependent on the insertion velocity. The needle tip force is calculated using the friction and insertion force, and is used as input for a mechanics-based model which predicts the amount of needle deflection. In the model, the needle is considered to be a cantilever beam supported by springs which have needle- tissue interaction stiffness (Ke). The value of the interaction stiffness is evaluated by comparing results from experiments and simulation. A mechanical needle insertion device is used to insert needles. Needle deflection during insertion is determined using a needle tip tracking algorithm. Results of this study provide insight into the mechanics of needle-tissue interaction, and can be used in studies for robotically steering needles into soft tissue.",

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Roesthuis, R, van Veen, Y, Jahya, A & Misra, S 2011, Mechanics of needle-tissue interaction. in International Conference on Intelligent Robots and Systems (IROS 2011). IEEE ROBOTICS AND AUTOMATION SOCIETY, USA, pp. 2557-2563, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, United States, 25/09/11. https://doi.org/10.1109/IROS.2011.6094969

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AU - Roesthuis, Roy

AU - van Veen, Youri

AU - Jahya, Alex

AU - Misra, Sarthak

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PY - 2011/9/25

Y1 - 2011/9/25

N2 - When a needle is inserted into soft tissue, interac- tion forces are developed at the needle tip and along the needle shaft. The needle tip force is due to cutting of the tissue, and the force along the needle shaft is due to friction between needle and tissue. In this study, the friction force is determined for needles inserted into a gelatine phantom at insertion velocities of 10 mm/s and 20 mm/s. The friction force is found to be dependent on the insertion velocity. The needle tip force is calculated using the friction and insertion force, and is used as input for a mechanics-based model which predicts the amount of needle deflection. In the model, the needle is considered to be a cantilever beam supported by springs which have needle- tissue interaction stiffness (Ke). The value of the interaction stiffness is evaluated by comparing results from experiments and simulation. A mechanical needle insertion device is used to insert needles. Needle deflection during insertion is determined using a needle tip tracking algorithm. Results of this study provide insight into the mechanics of needle-tissue interaction, and can be used in studies for robotically steering needles into soft tissue.

AB - When a needle is inserted into soft tissue, interac- tion forces are developed at the needle tip and along the needle shaft. The needle tip force is due to cutting of the tissue, and the force along the needle shaft is due to friction between needle and tissue. In this study, the friction force is determined for needles inserted into a gelatine phantom at insertion velocities of 10 mm/s and 20 mm/s. The friction force is found to be dependent on the insertion velocity. The needle tip force is calculated using the friction and insertion force, and is used as input for a mechanics-based model which predicts the amount of needle deflection. In the model, the needle is considered to be a cantilever beam supported by springs which have needle- tissue interaction stiffness (Ke). The value of the interaction stiffness is evaluated by comparing results from experiments and simulation. A mechanical needle insertion device is used to insert needles. Needle deflection during insertion is determined using a needle tip tracking algorithm. Results of this study provide insight into the mechanics of needle-tissue interaction, and can be used in studies for robotically steering needles into soft tissue.

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