Mechanics of needle-tissue interaction

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

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

    53 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
    @inproceedings{24c7c2ea38634ca99f75a2896ceff04a,
    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.",
    keywords = "IR-79696, EWI-21527, METIS-285245",
    author = "Roy Roesthuis and {van Veen}, Youri and Alex Jahya and Sarthak Misra",
    note = "10.1109/IROS.2011.6094969",
    year = "2011",
    month = "9",
    day = "25",
    doi = "10.1109/IROS.2011.6094969",
    language = "Undefined",
    isbn = "9781612844541",
    publisher = "IEEE ROBOTICS AND AUTOMATION SOCIETY",
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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 - van Veen, Youri

    AU - Jahya, Alex

    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.

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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