Abstract
| 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 | |
| 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 |
Keywords
- IR-79696
- EWI-21527
- METIS-285245
Cite this
}
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 proceeding › Conference contribution › Academic › peer-review
TY - GEN
T1 - Mechanics of needle-tissue interaction
AU - Roesthuis, Roy
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.
KW - IR-79696
KW - EWI-21527
KW - METIS-285245
U2 - 10.1109/IROS.2011.6094969
DO - 10.1109/IROS.2011.6094969
M3 - Conference contribution
SN - 9781612844541
SP - 2557
EP - 2563
BT - International Conference on Intelligent Robots and Systems (IROS 2011)
PB - IEEE ROBOTICS AND AUTOMATION SOCIETY
CY - USA
ER -