Force feedback for a spine biopsy simulator with volume graphic model

This paper shows how to implement haptic rendering for a needle insertion problem with volume graphic model. The target is a spine biopsy simulator for tumor inspection by needle insertion. Simulated force is calculated from the relationship between voxel data and the orientation and position of the needle. At first, it is generated using PHANToM. The needle puncturing resistive force is calculated from a stiffness model and the correction force to give physical constraint to the needle is derived using a pivot. For more realistic force feedback voxel based modeling is considered. MRI T1 value and CT density can be used to give physical properties to voxel. Soft tissue can be modeled as a damper using MRI value in the needle insertion problem, and the stiffness of hard tissue is derived from CT density. Skin deformation is modeled with Kelvin’s viscoelastic model. Since the high stiffness and large damping need to be simulated, it is attempted to generate force using active actuators and passive devices together.