Realistic Force Reflection in a Spine Biopsy Simulator

This paper proposes a scheme to produce realistic force reflection in a needle insertion problem. The target system is the spine needle biopsy simulator for tumor inspection by needle insertion. Simulated force is calculated using the 3D human tissue model, the orientation and position of the needle, and this force is produced through the PHANToM device. To generate realistic force reflection, the directional force of the needle has been generated by related tissue model, and the other rotational force is generated using a pivot to keep the needle in the initial inserted direction after puncturing the skin. Since the haptic device has limitation for generating high stiffness and large damping, scale downed model and digital filter are used to stabilize the system.