Modeling of friction force based on relative velocity between liver tissue and needle for needle insertion simulation

Abstract

Needle insertion treatments require accurate placement of the needle tip into the target cancer. However, it is difficult to insert the needle into the cancer because of cancer displacement due to the organ deformation. Then, a path planning using needle insertion simulation to analyze the deformation of the organ is important for the accurate needle insertion. A frictional model for needle insertion simulation is presented in this report. In particular, we focus on a model of frictional force based on the relative velocity between the needle and liver tissue ranging from hyper slow velocity. First, in vitro experiments using hog liver were performed at several relative velocities in order to measure the velocity dependence of the frictional force. Several needle insertion experiments were performed under identical conditions in order to deal with the variance of experimental data. The 60 frictional force data were used to obtain average data at each relative velocity. Second, the model of frictional force was developed using the averages of the experimental results. This model is defined according to the relative velocity ranging from hyper slow velocity. Finally, an evaluation experiment was carried out. The data obtained by the evaluation experiment reveals that the frictional force changes according to the relative velocity between the needle and liver tissue. The experimental results support the validity of proposed model of frictional force.

Characterization of robotic needle insertion and rotation in artificial and ex vivo tissues

“…Clinician trainees often use turkey breast to mimic human breast for needle insertion training, though mechanical differences between the two tissues have been noted [19,20]. Chicken breast [10], bovine liver [5], and pig liver [6,8] have also been used to model the interaction between needles and tissue. Clinicians have reported that needle insertion into living human tissue feels more similar to pig ex vivo tissue, than the other ex vivo tissues [20].…”

“…To enable robotic needle insertion, robotic needle drivers, control strategies, path planners, mechanics models, and simulations have been developed and tested in living (in vivo) tissue [1][2][3], intact but nonliving (ex vivo) tissue [4][5][6][7][8][9][10], and artificial tissue mimics [10][11][12][13][14][15][16][17]. See [18] for a review of prior work on robotic needle insertion.…”

Cutting performance orthogonal test of single plane puncture biopsy needle based on puncture force

“…The results showed that the puncture force decreased with the increase of the velocity, and the puncture force basically remained unchanged when reached 50mm/s. Kobayashi [15] inserted 17G needle into the liver part 2 cm thick at the speed of 0.01mm/s to 10mm/s, to study the dependence of velocity on friction. The experimental results showed that the friction force increased with the increase of velocity when the velocity was lower than 2mm/s, and it was constant at a higher speed than 2mm/s.…”

Estimation of the friction force during the needle insertion using the disturbance observer and the recursive least square

“…Okamura et al [1] and Simone et al [2] elucidated, from an experiment using a cow liver, that the force acting on a needle can be modeled by summing the friction force, the cutting force, and the stiffness force. Kobayashi et al [3] modeled the friction force based on the relative velocity between the needle and the tissue through an experiment using a hog liver. The purpose of these studies was not to detect the penetration of the needle into the tissue; rather, the estimated force was compared with the measured true value in real time.…”