Needle insertion modeling and simulation
Top Cited Papers
- 14 October 2003
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics and Automation
- Vol. 19 (5) , 864-875
- https://doi.org/10.1109/tra.2003.817044
Abstract
A methodology for estimating the force distribution that occurs along a needle shaft during insertion is described. An experimental system for measuring planar tissue phantom deformation during needle insertions has been developed and is presented. A two-dimensional linear elastostatic material model, discretised using the finite element method, is used to derive contact force information that is not directly measurable. This approach provides a method for quantifying the needle forces and soft tissue deformations that occur during general needle trajectories in multiple dimensions. The needle force distribution is used for graphical and haptic real-time simulations of needle insertion. Since the force displacement relationship is required only along the needle, a condensation technique is shown to achieve very fast interactive simulations. Stiffness matrix changes corresponding to changes in boundary conditions and material coordinate frames are performed using low-rank matrix updates.Keywords
This publication has 21 references indexed in Scilit:
- Simulated interactive needle insertionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Advances in the virtual reality interstitial brachytherapy systemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Visual and force feedback to aid neurosurgical probe insertionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Realistic force reflection in a spine biopsy simulatorPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- The virtual surgeon [virtual reality trainer]IEEE Spectrum, 2000
- ArtDefoPublished by Association for Computing Machinery (ACM) ,1999
- Real-time elastic deformations of soft tissues for surgery simulationIEEE Transactions on Visualization and Computer Graphics, 1999
- Optimizing prostate needle biopsy through 3D simulationPublished by SPIE-Intl Soc Optical Eng ,1998
- Finite element modeling in surgery simulationProceedings of the IEEE, 1998
- Finite Element Methods and Navier-Stokes EquationsPublished by Springer Nature ,1986