Mechanics of needle-tissue interaction

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

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

    68 Citations (Scopus)


    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
    Number of pages7
    ISBN (Print)9781612844541
    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

    Publication series

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


    Conference2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011
    Abbreviated titleiros
    Country/TerritoryUnited States
    CitySan Francisco
    Internet address


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

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