Needle Insertion Force Model for Haptic Simulation

Abstract

Percutaneous medical procedures rely upon clinicians performing precise needle insertion in soft tissue. The utility of haptic simulation systems in training clinicians for these procedures is highly dependent upon the ability to render accurate insertion force feedback. This paper presents a piecewise mathematical model for insertion force that does not require tissue material properties, detailed mechanical approximations, or complex computations. With manipulation of model parameters, a wide variety of insertion tasks and clinical scenarios can be modeled. Through needle insertion experiments and parameter estimation, this model was demonstrated to replicate the insertion forces associated with a variety of needle and tissue types. In 11 of 12 needle and tissue combinations tested, the model replicated the insertion force with an average absolute mean error of less than 0.065 N.

Force Modeling, Identification, and Feedback Control of Robot-Assisted Needle Insertion: A Survey of the Literature

“…In past decades, scholars have presented a series of works focusing on force modeling to better understand the needle-tissue interaction in theory and practice [ 4 , 12 , 14 , 15 , 17 , 22 , 23 , 24 , 25 , 26 , 27 , 28 , 29 , 30 , 31 , 32 , 33 , 34 , 35 , 36 , 37 , 38 , 39 , 40 , 41 , 42 , 43 , 44 , 45 , 46 , 47 , 48 , 49 , 50 , 51 , 52 , 53 , 54 , 55 , 56 , 57 , 58 , 59 ]. In this section, we classify the needle insertion force modeling into the following categories: finite element methods (FEM) [ 4 , 29 , 31 , 40 , 44 , 47 , 49 ], energy methods [ 17 , 38 , 39 , 59 ], stat...…”

“…After a series of force analyses of homogeneous materials and tissues in a single layer, some scholars focused on multiple layers or different materials and tissue modeling and simulation [ 14 , 36 , 48 , 114 ]. Typically, Carra and Avila-Vilchis [ 36 ] provided a new universal force model to study the needle insertion into several tissue layers such as skin, fat and muscle as shown in Figure 8 .…”

“…Li et al [ 114 ] employed a contact model calculating the force–deformation response of a needle in contact with soft tissue. Gordon et al [ 48 ] used an exponential function applied in a piecewise manner over the length of an entire needle insertion to acquire force. Heng et al [ 14 ] provided a haptic simulator specialized for Chinese acupuncture learning and training.…”

Training Surgical Residents With a Haptic Robotic Central Venous Catheterization Simulator

“…The haptic force feedback provided by the Geomagic Touch X is calculated using a piecewise force characterization algorithm for linear needle insertion proposed by Gordon et al 23 . Force data is inputted into the force characterization which outputs an equation for axial needle force verses needle depth.…”

“…The VR haptic robotic CVC simulator shown in Figure 1 utilizes a unique combination of a navigable virtual ultrasound environment, as well as a haptic needle insertion force characterization developed in previous work 23 . The Material and Methods section of this paper gives an overview of the simulator hardware and the development of the haptic syringe, virtual ultrasound, graphical user interface, and details the experiments conducted to determine the effectiveness of the device.…”