Robotic needle insertion: effects of friction and needle geometry

O'Leary, M.D.; Simone, Christina; Washio, Toshikatsu; Yoshinaka, K.; Okamura, Allison M.

doi:10.1109/robot.2003.1241851

“…O'Leary et al [46] observe that this is roughly equal to the static friction threshold. This friction force remains at the threshold until the relative velocity of the tissue and the needle is zero.…”

Section: Static and Dynamic Frictionmentioning

confidence: 93%

Interactive simulation of surgical needle insertion and steering

Chentanez

¹

,

Alterovitz

²

,

Ritchie

³

et al. 2009

ACM SIGGRAPH 2009 Papers

View full text Add to dashboard Cite

We present algorithms for simulating and visualizing the insertion and steering of needles through deformable tissues for surgical training and planning. Needle insertion is an essential component of many clinical procedures such as biopsies, injections, neurosurgery, and brachytherapy cancer treatment. The success of these procedures depends on accurate guidance of the needle tip to a clinical target while avoiding vital tissues. Needle insertion deforms body tissues, making accurate placement difficult. Our interactive needle insertion simulator models the coupling between a flexible needle and deformable tissue. We introduce (1) a novel algorithm for local remeshing that quickly enforces the conformity of a tetrahedral mesh to a curvilinear needle path, enabling accurate computation of contact forces, (2) an efficient method for coupling a 3D finite element simulation with a 1D inextensible rod with stick-slip friction, and (3) optimizations that reduce the computation time for physically based simulations. We can realistically and interactively simulate needle insertion into a prostate mesh of 13,375 tetrahedra and 2,763 vertices at a 25 Hz frame rate on an 8-core 3.0 GHz Intel Xeon PC. The simulation models prostate brachytherapy with needles of varying stiffness, steering needles around obstacles, and supports motion planning for robotic needle insertion.We evaluate the accuracy of the simulation by comparing against real-world experiments in which flexible, steerable needles were inserted into gel tissue phantoms.

show abstract

“…The real-world response of tissues to stress depends on hydration, disease, age and pathology; exact simulation in the face of such variability is currently impossible, although improvements can be obtained using empirical data from studies of tissues and medical instruments in the laboratory and in vivo [14][15][16][17][18].…”

Section: Commentary: Using Simulation For Interventional Radiology Trmentioning

confidence: 99%

Using simulation for interventional radiology training

Gould

¹

2010

BJR

View full text Add to dashboard Cite

ABSTRACT. Debate on the existence of innate skills has all but evaporated in the light of evidence that it is only the hours spent in deliberate practice that correlate with even the most elite levels of expertise. A range of simple to advanced technologies stands to address some of the many challenges to effective training of 21st century, procedural medicine. Simulation could train and assess behaviours remotely from patients, in complete safety, reducing the risks of inexperienced trainees learning critical tasks in patients while contributing to certification and revalidation. Understanding the strengths and limitations of these devices, determining and improving their effectiveness and identifying their roles, as well as those of individuals and teams, represents a cornerstone of successful adoption into the interventional radiology curriculum. This requires a simulation strategy that includes standards for simulator documentation.

show abstract

“…They also observe that the cutting force increases sharply as the needle approaches the membrane of the liver. O'Leary et al [46] make further measurements with a similar experimental setup and conclude that the friction force consists of a Coulomb friction component, which does not depend on velocity, and a viscous friction component, which increases with the relative velocity of the tissue and the needle. Crouch et al [17] optimize several simulation parameters to match the simulation result with their experimental data to determine the coefficient of the viscous friction force.…”

Section: Forces During Needle Insertionmentioning

confidence: 99%

Interactive simulation of surgical needle insertion and steering

Chentanez

¹

,

Alterovitz

²

,

Ritchie

³

et al. 2009

View full text Add to dashboard Cite

We present algorithms for simulating and visualizing the insertion and steering of needles through deformable tissues for surgical training and planning. Needle insertion is an essential component of many clinical procedures such as biopsies, injections, neurosurgery, and brachytherapy cancer treatment. The success of these procedures depends on accurate guidance of the needle tip to a clinical target while avoiding vital tissues. Needle insertion deforms body tissues, making accurate placement difficult. Our interactive needle insertion simulator models the coupling between a flexible needle and deformable tissue. We introduce (1) a novel algorithm for local remeshing that quickly enforces the conformity of a tetrahedral mesh to a curvilinear needle path, enabling accurate computation of contact forces, (2) an efficient method for coupling a 3D finite element simulation with a 1D inextensible rod with stick-slip friction, and (3) optimizations that reduce the computation time for physically based simulations. We can realistically and interactively simulate needle insertion into a prostate mesh of 13,375 tetrahedra and 2,763 vertices at a 25 Hz frame rate on an 8-core 3.0 GHz Intel Xeon PC. The simulation models prostate brachytherapy with needles of varying stiffness, steering needles around obstacles, and supports motion planning for robotic needle insertion.We evaluate the accuracy of the simulation by comparing against real-world experiments in which flexible, steerable needles were inserted into gel tissue phantoms.

show abstract

Robotic needle insertion: effects of friction and needle geometry

Cited by 74 publications

References 9 publications

Interactive simulation of surgical needle insertion and steering

Interactive simulation of surgical needle insertion and steering

Using simulation for interventional radiology training

Interactive simulation of surgical needle insertion and steering

Contact Info

Product

Resources

About