Modelling needle forces during insertion into soft tissue

被引：0

作者：

Cheng, Zhuoqi ^{[1
]}

Chauhan, Manish ^{[1
]}

Davies, Brian L. ^{[1
,2
]}

Caldwell, Darwin G. ^{[1
]}

Mattos, Leonardo S. ^{[1
]}

机构：

[1] Fdn Ist Italiano Tecnol, Dept Adv Robot, Via Morego 30, I-16163 Genoa, Italy

[2] Univ London Imperial Coll Sci Technol & Med, Dept Mech Engn, Mechatron Med Lab, London SW7 2AZ, England

来源：

2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC) | 2015年

关键词：

D O I：

暂无

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

Robot-assisted needle-based surgeries are sought to improve many operations, from brain surgery to spine and urological procedures. Force feedback from a needle can provide important guidance during needle insertion. This paper presents a new modelling method of needle force during insertion into soft tissue based on finite element simulation. This is achieved by analysing the results of a series of needle inserting experiments with different insertion velocities. The forces acting on the needle are then modelled based on the experimental results. A simulation is implemented to verify the designed model.

引用

页码：4840 / 4844

页数：5

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