NDLI: An analytical model for deflection of flexible needles during needle insertion

Content Provider	IEEE Xplore Digital Library
Author	Asadian, Ali Kermani, Mehrdad R. Patel, Rajni V.
Copyright Year	2011
Description	Author affiliation: Canadian Surgical Technologies and Advanced Robotics (CSTAR) and the Department of Electrical and Computer Engineering, The University of Western Ontario, London, Canada (Asadian, Ali; Kermani, Mehrdad R.; Patel, Rajni V.)
Abstract	This paper presents a new needle deflection model that is an extension of prior work in our group based on the principles of beam theory. The use of a long flexible needle in percutaneous interventions necessitates accurate modeling of the generated curved trajectory when the needle interacts with soft tissue. Finding a feasible model is important in simulators with applications in training novice clinicians or in path planners used for needle guidance. Using intra-operative force measurements at the needle base, our approach relates mechanical and geometric properties of needle-tissue interaction to the net amount of deflection and estimates the needle curvature. To this end, tissue resistance is modeled by introducing virtual springs along the needle shaft, and the impact of needle-tissue friction is considered by adding a moving distributed external force to the bending equations. Cutting force is also incorporated by finding its equivalent sub-boundary conditions. Subsequently, the closed-from solution of the partial differential equations governing the planar deflection is obtained using Green's functions. To evaluate the performance of our model, experiments were carried out on artificial phantoms.
Starting Page	2551
Ending Page	2556
File Size	638286
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094959
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Needles Force Mathematical model Boundary conditions Biological tissues Friction Phantoms
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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