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Interaction modeling and simulation of a flexible needle insertion into soft tissues
Yang TW(杨唐文); Yin, Hang; Zhao XG(赵新刚); Han JD(韩建达); Xu WL(徐卫良)
作者部门机器人学研究室
会议名称Joint 45th International Symposium on Robotics, ISR 2014 and 8th German Conference on Robotics, ROBOTIK 2014
会议日期June 2-3, 2014
会议地点Munich, Germany
会议主办者ABB; KUKA
会议录名称Joint 45th International Symposium on Robotics, ISR 2014 and 8th German Conference on Robotics, ROBOTIK 2014
出版者VDE-Verlag
出版地Berlin
2014
页码611-616
收录类别EI
EI收录号20144500165355
产权排序1
关键词Flexible Needle Soft Tissue Interaction Modelling Fem Simulation
摘要Needle puncture is irreplaceable for some percutaneous therapies, like biopsy, brachytherapy treatment, neurosurgery, etc. But needle insertion force deforms soft tissue, making accurate targeting difficult. It thus emerges as an important issue to model the interaction force raised during needle insertion. In this paper, we establish the force model with data acquired from the simulation of a flexible needle insertion into a liver of human being. First, high-quality tetrahedral meshes of the flexible needle and the liver are generated using an adaptive constrained Delaunay tetrahedralization algorithm. Then, the tetrahedral mesh data is integrated into SOFA, an open-source framework, to dynamically simulate the interactive behaviours of the flexible needle insertion into the liver. Finally, interactive force data acquired from the simulations is identified and modelled in three parts, namely, stiffness, friction, and cutting forces. The models established may be used in robotic needle steering and insertion training with computer simulator.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15269
专题机器人学研究室
作者单位1.Institute of Information Science, Beijing Jiaotong University, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, China
3.Department of Mechanical Engineering, University of Auckland, New Zealand
推荐引用方式
GB/T 7714
Yang TW,Yin, Hang,Zhao XG,et al. Interaction modeling and simulation of a flexible needle insertion into soft tissues[C]//ABB; KUKA. Berlin:VDE-Verlag,2014:611-616.
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