Deflection simulation for a needle adjusted by the insertion orientation angle and axial rotation during insertion in th
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ORIGINAL ARTICLE
Deflection simulation for a needle adjusted by the insertion orientation angle and axial rotation during insertion in the muscle-contained double-layered tissue Wanyu Liu 1 & Zhiyong Yang 1 & Peina Fang 1 & Shan Jiang 1 Received: 19 March 2019 / Accepted: 25 June 2020 # International Federation for Medical and Biological Engineering 2020
Abstract During the process of percutaneous puncture, a medical needle with a beveled tip is usually inserted into a multilayered soft tissue, which contains a muscle layer, before it reaches the target. The robot-assisted needle insertion technology will help brachytherapists to perform high-accuracy seed implantation. To guide the automatic needle insertion, a mechanics-based model to simulate needle deflection caused by the asymmetric cutting force during insertion in the muscle-contained double-layered tissue is developed. The model is driven by the anisotropic and inhomogeneous interaction forces, which are updated off-line according to the tip’s position and pose and are independent of the real-time data feedback. The parameterized insertion orientation angle and 180° axial rotation are introduced in the simulating process as the control inputs of the needle to adjust the needle deflection. Simulations and experiments confirm that the cooperative control of the insertion orientation angle and 180° axial rotation can steer the needle towards to any desired target in the reachable region of the tip. The results show that the proposed approach can successfully predict the needle deflection in the muscle-contained double-layered tissue. This work will be useful for a needle automatic control strategy design. Keywords Percutaneous puncture . Needle deflection . Interaction forces . Insertion orientation angle . 180° axial rotation
1 Introduction Robot-assisted needle insertion technology is an important research for brachytherapy. During needle insertion, the asymmetric interaction force will cause the needle deflection [1, 7, 23]. The needle tip off the desired trajectory may cause unexpected mechanical injury to the viscera or blood vessel, and the poor placement of radioactive isotopes will cause longterm side effects [8]. A proper combination operation of straight insertion and 180° axial rotation is commonly used to adjust the needle deflection [8, 23, 31]. Numerous researchers modeled the needle deflection based on needle-tissue interaction forces. Roesthuis et al. [28] used the cutting force acting on the needle tip as an input of the model to predict the needle deflection. In their work, the needle shaft in the tissue was considered a cantilever beam supported by a series of * Shan Jiang [email protected] 1
School of Mechanical Engineering, Tianjin University, No. 135, Yaguan Road, Jinnan District, Tianjin City 300354, China
virtual linear springs, all of which had identical stiffness. In their further study [27], the in-plane deflection controlled by a 180° axial rotation was simulated. Wang and Jiang proposed two methods considering the materially
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