TY - GEN
T1 - Needle-tissue interaction forces for bevel-tip steerable needles
AU - Misra, Sarthak
AU - Reed, Kyle B.
AU - Douglas, Andrew S.
AU - Ramesh, K. T.
AU - Okamura, Allison M.
PY - 2008
Y1 - 2008
N2 - The asymmetry of a bevel-tip needle results in the needle naturally bending when it is inserted into soft tissue. As a first step toward modeling the mechanics of deflection of the needle, we determine the forces at the bevel tip. In order to find the forces acting at the needle tip, we measure rupture toughness and nonlinear material elasticity parameters of several soft tissue simulant gels and chicken tissue. We incorporate these physical parameters into a finite element model that includes both contact and cohesive zone models to simulate tissue cleavage. We investigate the sensitivity of the tip forces to tissue rupture toughness, linear and nonlinear tissue elasticity, and needle tip bevel angle. The model shows that the tip forces are sensitive to the rupture toughness. The results from these studies contribute to a mechanics-based model of bevel-tip needle steering, extending previous work on kinematic models.
AB - The asymmetry of a bevel-tip needle results in the needle naturally bending when it is inserted into soft tissue. As a first step toward modeling the mechanics of deflection of the needle, we determine the forces at the bevel tip. In order to find the forces acting at the needle tip, we measure rupture toughness and nonlinear material elasticity parameters of several soft tissue simulant gels and chicken tissue. We incorporate these physical parameters into a finite element model that includes both contact and cohesive zone models to simulate tissue cleavage. We investigate the sensitivity of the tip forces to tissue rupture toughness, linear and nonlinear tissue elasticity, and needle tip bevel angle. The model shows that the tip forces are sensitive to the rupture toughness. The results from these studies contribute to a mechanics-based model of bevel-tip needle steering, extending previous work on kinematic models.
UR - http://www.scopus.com/inward/record.url?scp=63049091281&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=63049091281&partnerID=8YFLogxK
U2 - 10.1109/BIOROB.2008.4762872
DO - 10.1109/BIOROB.2008.4762872
M3 - Conference contribution
AN - SCOPUS:63049091281
SN - 9781424428830
T3 - Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
SP - 224
EP - 231
BT - Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
T2 - 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
Y2 - 19 October 2008 through 22 October 2008
ER -