Abstract
Needle-tissue interaction deformation model can provide the future interaction deformation prediction which can be used to establish the virtual surgery training platform. The prediction information can be used to assist needle path planning scheme. However, existing models either only model the global coupled deformation without force prediction module or model the local contact mechanism between the needle and tissue. The calculation efficiency of the contact mechanism based model limits its application in needle path planning task. In this paper, a novel full prediction model of 3D needle insertion procedures was proposed. The Kriging model can realize fast calculation of the friction force, which is coupled to the 3D needle-tissue coupled deformation model. The local constraint method is applied to avoid the reconstruction of stiffness matrix in each step. The model can simultaneously predict tissue deformation, needle deflection and the interaction force with an acceptable calculation efficiency. The simulation results demonstrate the accuracy of the Kriging based friction force model. The visual simulation results of needle insertion process was also given in this paper. The simulation calculation speed (with an average run time of 30 s) demonstrates the feasibility of its application to needle path planning schemes.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Alterovitz, R., Goldberg, K.Y., Pouliot, J., Hsu, I.: Sensorless motion planning for medical needle insertion in deformable tissues. IEEE Trans. Inf. Technol. Biomed. Publ. IEEE Eng. Med. Biol. Soc. 13(2), 217–25 (2009)
Azar, T., Hayward, V.: Estimation of the fracture toughness of soft tissue from needle insertion. In: Biomedical Simulation. pp. 166–175. Berlin, Heidelberg (2008)
Basafa, E., Farahmand, F., Vossoughi, G.: A non-linear mass-spring model for more realistic and efficient simulation of soft tissues surgery. Stud. Health Technol. Inf. 132, 23–25 (2008)
Bojairami, I.E., Hamedzadeh, A., Driscoll, M.: Feasibility of extracting tissue material properties via cohesive elements: a finite element approach to probe insertion procedures in non-invasive spine surgeries. Med. Biol. Eng. Comput. 59(10), 2051–2061 (2021)
Bui, H.P., Tomar, S., Courtecuisse, H., Cotin, S., Bordas, S.P.A.: Real-time error control for surgical simulation. IEEE Trans. Biomed. Eng. 65(3), 596–607 (2018)
Cueto, E., Chinesta, F.: Real time simulation for computational surgery: a review. Adv. Model. Simul. Eng. Sci. 1(1), 11 (2014)
Fuchs, K.: Minimally invasive surgery. Endoscopy 34(2), 154–159 (2002)
Gao, D., Lei, Y., Lian, B., Yao, B.: Modeling and simulation of flexible needle insertion into soft tissue using modified local constraints. J. Manuf. Sci. Eng. 138(12), 121012 (2016)
Hammer, P.E., Sacks, M.S., Nido, P.J.D., Howe, R.D.: Mass-spring model for simulation of heart valve tissue mechanical behavior. Ann. Biomed. Eng. 39(6), 1668–1679 (2011)
Lei, Y., Lian, B.: Modeling and simulation of flexible needle insertion into soft tissue using modified local constraint method. In: ASME 2014 International Manufacturing Science Conference, p. V002T02A031 (2014)
Li, H., Wang, Y., Li, Y., Zhang, J.: A novel manipulator with needle insertion forces feedback for robot-assisted lumbar puncture. Int. J. Med. Robot. Comput. Assist. Surg. 17(2), e2226 (2021)
Li, M., Lei, Y., Gao, D., Hu, Y., Zhang, X.: A novel material point method (MPM) based needle-tissue interaction model. Comput. Methods Biomech. Biomed. Eng. 24(12), 1393–1407 (2021)
Li, M., et al.: A novel semiemperical friction coefficient model between needle and PVA tissue phantom and its validation by using computational inverse technique. J. Tribol. 144(8), 081203 (2022)
Lophaven, S.N., Nielsen, H.B., Sondergaard, J.: Dace - a matlab kriging toolbox - version 2.0. Technical Report, Technical University of Denmark, Denmark (2002)
Misra, S., Ramesh, K.T., Okamura, A.M.: Modeling of tool-tissue interactions for computer-based surgical simulation: a literature review. Presence 17(5), 463–491 (2008)
Podder, T., Clark, D., Fuller, D.: Effects of coating on friction force during needle insertion in soft materials. Med. Phys. 32(7), 2421 (2005)
Ra, J., et al.: Biomedical paper spine needle biopsy simulator using visual and force feedback. Comput. Aided Surg. 07, 317–370 (2002)
Sacks, J., Welch, W.J., Mitchell, T.J., Wynn, H.P.: Design and analysis of computer experiments. Statistical Science, pp. 409–423 (1989)
Takabi, B., Tai, B.: A review of cutting mechanics and modeling techniques for biological materials. Med. Eng. Phys. 45, 1–14 (2017)
Tanaka, H.T., Tsujino, Y., Kamada, T., Viet, H.Q.H.: Bisection refinement-based real-time adaptive mesh model for deformation and cutting of soft objects. In: 2006 9th International Conference on Control, Automation, Robotics and Vision, pp. 1–8 (2006)
Ullrich, S., Grottke, O., Rossaint, R., Staat, M., Deserno, T.M., Kuhlen, T.: Virtual needle simulation with haptics for regional anaesthesia. IEEE Virtual Reality 52(7), 1–3 (2010)
Acknowledgements
This work was supported by Key Research Project of Zhejiang Lab (No. G2021NB0AL03), the National Natural Science Foundation of China Grant (Grant No. U21A20488) and Zhejiang Provincial Natural Science Foundation of China (Grant No. LSD19H180004).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Li, M. et al. (2023). A Novel Full Prediction Model of 3D Needle Insertion Procedures. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14269. Springer, Singapore. https://doi.org/10.1007/978-981-99-6489-5_14
Download citation
DOI: https://doi.org/10.1007/978-981-99-6489-5_14
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-99-6488-8
Online ISBN: 978-981-99-6489-5
eBook Packages: Computer ScienceComputer Science (R0)