Needle–tissue interaction forces – A survey of experimental data

Wasp-Inspired Needle Insertion with Low Net Push Force

“…Specifically, the resistance against movement of the cart may act as a pushing force on the protruding needle part, preventing the cart from moving backwards. Cutting force increases with gelatine concentration (in line with [25,28,30]), leaving us to believe that the effect of cart inertia and bearing friction on Slip pro decreases with gelatine concentration.…”

“…Force measurements indicated that the cutting force increased more steeply with needle velocity than the friction force did, opposite to [25]. The difference in maximum acceleration for different velocities in the prototype experiment makes the validation of the performance results difficult.…”

“…A two-by-two actuation is expected to result in no penetration, as in that case the friction force on the stationary needle parts is smaller than the resistive forces on the protruding needle parts.  Needle-part velocity: Friction force increases with insertion velocity more steeply than the corresponding cutting force [25]. Following Eq.…”

Experimental study of needle–tissue interaction forces: Effect of needle geometries, insertion methods and tissue characteristics

“…Thus, a thorough understanding of needle-tissue interaction mechanics is presented, which is beneficial to realistic surgical simulation, preoperative planning and robot-assisted mechanical procedures. Gerwen et al (2012) provided an extensive overview of experimental insertion-force data available in the literature and investigated the numerous factors that influence the needle-tissue interaction. Okamura et al (2004) characterized the effects of needle diameter and tip type on insertion force using a silicone rubber phantom.…”

Interventional radiology virtual simulator for liver biopsy

“…The obtained force data was plotted against displacement and time. Various models of needle insertion can be found in the literature [5]. We have chosen an analytical model [11] based on a succession of exponential-like rises before and after liver capsule penetration, and proportional to needle insertion depth, was fitted to the experimental data, and used to render force feedback during needle insertion within the simulator.…”