Kinematic model and its parameter identification for cannula flexible needle insertion into soft tissue

Needle Deflection during Insertion into Soft Tissue Based on Virtual Spring Model

Needle insertion is the most common procedure of minimally invasive interventions. During insertion into a soft tissue, the needle with bevel tip can deflect due to the asymmetric forces acting on the tip of the needle. In this paper, a mechanics-based model is developed to predict the needle deflection. In the model, the needle is considered as a cantilever beam supported by a series of nonlin...

Comparisons of Needle Insertion in Brachytherapy Protocols Using a Soft Tissue Model

A Concept for Fail Safe Robotic Needle Insertion in Soft Tissue

This paper presents a concept of automatic needle placement for brachytherapy. For the success of this minimally invasive treatment, a precise and safe placement of needles inside soft tissue is fundamental. The presented concept incorporates information about the needle as well as the tissue to find a suitable needle trajectory. A patientspecific tissue model is derived from different imaging ...

Modeling and Measuring the Dynamic 3D Effects of Needle Insertion in Soft Tissue

Models that predict soft tissue deformation during needle insertion could improve the accuracy of needle based medical procedures. In an effort to establish a method for defining and validating such models, we present an experimental setup including hardware and software for recording and measuring the time-dependent, 3D deformation that occurs as a needle is inserted into soft material. Algori...

Simulating Needle Insertion and Radioactive Seed Implantation in Soft Tissues

We are developing a simulation of needle insertion and radioactive seed implantation to facilitate surgeon training and planning for brachytherapy for treating prostate cancer. Inserting a needle into soft tissues causes the tissues to displace and deform: ignoring these effects during seed implantation leads to imprecise seed placements. Surgeons should learn to compensate for these effects so...