Mechanics of Tissue Cutting During Needle Insertion in Biological Tissue

Real‐time suturing simulation for virtual reality medical training

“…The needle tip should be treated differently from the needle body and suture because the needle tip needs to puncture through the soft tissue. Puncturing happens between the needle tip and the tissue surface starts by deforming the tissue at the tissue surface and continues until the contact force reaches its maximum 3 . Besides, if we do not treat them differently, suture could puncture into soft tissue like needle tip.…”

“…Suturing is a common and indispensable step for almost all the trauma treatment in the clinic. However, most researches in suturing simulation 2‐4 focus on the force–displacement measurements and analysis of the flexible needle insertion or the interactions between the rigid needle and soft tissue without considering surgical threads. Though the deformation of soft bodies, the motion of rigid bodies and strands (such as rod, hair, wire etc.)…”

A Hand-Held Assistant for Semiautomated Percutaneous Needle Steering

“…8(b) indicate that the vibration does not lead to significant changes in the measured cutting force. Consequently, and given that the cutting force is the main factor that influences the amount of needle deflection [31], the effects of vibration on the needle deflection are negligible. Since the longitudinal micro-vibrations only reduce the friction component of the insertion force, the user will still experience the force feedback during needle penetration in tissue and also during transitions through different layers.…”

Real-Time Path Planning for Needle Insertion With Multiple Targets

“…In particular, our interest is in flexible bevel-tip needles. In [24], the effect of the needle diameter and the tip type on the needle path curvature is explained. It shows that beveltip needles tend to bend more easily than the symmetric conic and triangular tip needles.…”

“…In a similar vein, Khadem et al [24] studied the mechanics of inhomogeneous soft tissue cutting and broke down the whole insertion process into three phases similar to [43], with negligible tissue resistance/reaction forces. Tissue cutting forces, which are considered constant in [43], is reviewed analytically as a function of needle tip geometry, tissue mechanical properties, and insertion velocity.…”