Mechanics of needle-tissue interaction

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

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

52 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 languageUndefined
Title of host publicationInternational Conference on Intelligent Robots and Systems (IROS 2011)
Place of PublicationUSA
PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
Pages2557-2563
Number of pages7
ISBN (Print)9781612844541
DOIs
Publication statusPublished - 25 Sep 2011
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011 - San Francisco, United States
Duration: 25 Sep 201130 Sep 2011
http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2011/IROS/www.iros2011.org/index.html

Publication series

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

Conference

Conference2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011
Abbreviated titleiros
CountryUnited States
CitySan Francisco
Period25/09/1130/09/11
Internet address

Keywords

  • IR-79696
  • EWI-21527
  • METIS-285245

Cite this

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) (pp. 2557-2563). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/IROS.2011.6094969
Roesthuis, Roy ; van Veen, Youri ; Jahya, Alex ; Misra, Sarthak. / Mechanics of needle-tissue interaction. International Conference on Intelligent Robots and Systems (IROS 2011). USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2011. pp. 2557-2563
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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

Mechanics of needle-tissue interaction. / Roesthuis, Roy; van Veen, Youri; Jahya, Alex; Misra, Sarthak.

International Conference on Intelligent Robots and Systems (IROS 2011). USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2011. p. 2557-2563.

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

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T1 - Mechanics of needle-tissue interaction

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AU - Misra, Sarthak

N1 - 10.1109/IROS.2011.6094969

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.

KW - IR-79696

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Roesthuis R, van Veen Y, Jahya A, Misra S. Mechanics of needle-tissue interaction. In International Conference on Intelligent Robots and Systems (IROS 2011). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. 2011. p. 2557-2563 https://doi.org/10.1109/IROS.2011.6094969