A Mechanics-based Model for Simulation and Control of Flexible Needle Insertion in Soft Tissue

Seyedmohsen Khadem; Bita Fallahi; Carlos Rossa; Ron S. Sloboda; Nawaid Usmani; Mahdi Tavakoli

doi:10.1109/ICRA.2015.7139499

A Mechanics-based Model for Simulation and Control of Flexible Needle Insertion in Soft Tissue

Seyedmohsen Khadem, Bita Fallahi, Carlos Rossa, Ron S. Sloboda, Nawaid Usmani, Mahdi Tavakoli

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In needle-based medical procedures, beveled-tip flexible needles are steered inside soft tissue with the aim of reaching pre-defined target locations. The efficiency of needle based interventions depends on accurate control of the needle tip. This paper presents a comprehensive mechanics-based model for simulation of planar needle insertion in soft tissue. The proposed model for needle deflection is based on beam theory, works in real-time, and accepts the insertion velocity as an input that can later be used as a control command for needle steering. The model takes into account the effects of tissue deformation, needle-tissue friction, tissue cutting force, and needle bevel angle on needle deflection. Using a robot that inserts a flexible needle into a phantom tissue, various experiments are conducted to separately identify different subsets of the model parameters. The validity of the proposed model is verified by comparing the simulation results to the empirical data. The results demonstrate the accuracy of the proposed model in predicting the needle tip deflection for different insertion velocities.

Original language	English
Title of host publication	Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA)
Place of Publication	Seattle, WA, USA
Publisher	Institute of Electrical and Electronics Engineers
Pages	2264-2269
Number of pages	6
ISBN (Electronic)	978-1-4799-6923-4
DOIs	https://doi.org/10.1109/ICRA.2015.7139499
Publication status	Published - 2 Jul 2015
Event	2015 IEEE International Conference on Robotics and Automation - Seattle, United States Duration: 26 May 2015 → 30 May 2015 http://icra2015.org/

Conference

Conference	2015 IEEE International Conference on Robotics and Automation
Abbreviated title	ICRA 2015
Country/Territory	United States
City	Seattle
Period	26/05/15 → 30/05/15
Internet address	http://icra2015.org/

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10.1109/ICRA.2015.7139499

https://ieeexplore.ieee.org/document/7139499

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Khadem, S., Fallahi, B., Rossa, C., Sloboda, R. S., Usmani, N., & Tavakoli, M. (2015). A Mechanics-based Model for Simulation and Control of Flexible Needle Insertion in Soft Tissue. In Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA) (pp. 2264-2269). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICRA.2015.7139499

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title = "A Mechanics-based Model for Simulation and Control of Flexible Needle Insertion in Soft Tissue",

abstract = "In needle-based medical procedures, beveled-tip flexible needles are steered inside soft tissue with the aim of reaching pre-defined target locations. The efficiency of needle based interventions depends on accurate control of the needle tip. This paper presents a comprehensive mechanics-based model for simulation of planar needle insertion in soft tissue. The proposed model for needle deflection is based on beam theory, works in real-time, and accepts the insertion velocity as an input that can later be used as a control command for needle steering. The model takes into account the effects of tissue deformation, needle-tissue friction, tissue cutting force, and needle bevel angle on needle deflection. Using a robot that inserts a flexible needle into a phantom tissue, various experiments are conducted to separately identify different subsets of the model parameters. The validity of the proposed model is verified by comparing the simulation results to the empirical data. The results demonstrate the accuracy of the proposed model in predicting the needle tip deflection for different insertion velocities.",

author = "Seyedmohsen Khadem and Bita Fallahi and Carlos Rossa and Sloboda, {Ron S.} and Nawaid Usmani and Mahdi Tavakoli",

year = "2015",

month = jul,

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doi = "10.1109/ICRA.2015.7139499",

language = "English",

pages = "2264--2269",

booktitle = "Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA)",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "2015 IEEE International Conference on Robotics and Automation, ICRA 2015 ; Conference date: 26-05-2015 Through 30-05-2015",

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Khadem, S, Fallahi, B, Rossa, C, Sloboda, RS, Usmani, N & Tavakoli, M 2015, A Mechanics-based Model for Simulation and Control of Flexible Needle Insertion in Soft Tissue. in Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers, Seattle, WA, USA, pp. 2264-2269, 2015 IEEE International Conference on Robotics and Automation, Seattle, Washington, United States, 26/05/15. https://doi.org/10.1109/ICRA.2015.7139499

A Mechanics-based Model for Simulation and Control of Flexible Needle Insertion in Soft Tissue. / Khadem, Seyedmohsen; Fallahi, Bita; Rossa, Carlos et al.
Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA). Seattle, WA, USA: Institute of Electrical and Electronics Engineers, 2015. p. 2264-2269.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - A Mechanics-based Model for Simulation and Control of Flexible Needle Insertion in Soft Tissue

AU - Khadem, Seyedmohsen

AU - Fallahi, Bita

AU - Rossa, Carlos

AU - Sloboda, Ron S.

AU - Usmani, Nawaid

AU - Tavakoli, Mahdi

PY - 2015/7/2

Y1 - 2015/7/2

N2 - In needle-based medical procedures, beveled-tip flexible needles are steered inside soft tissue with the aim of reaching pre-defined target locations. The efficiency of needle based interventions depends on accurate control of the needle tip. This paper presents a comprehensive mechanics-based model for simulation of planar needle insertion in soft tissue. The proposed model for needle deflection is based on beam theory, works in real-time, and accepts the insertion velocity as an input that can later be used as a control command for needle steering. The model takes into account the effects of tissue deformation, needle-tissue friction, tissue cutting force, and needle bevel angle on needle deflection. Using a robot that inserts a flexible needle into a phantom tissue, various experiments are conducted to separately identify different subsets of the model parameters. The validity of the proposed model is verified by comparing the simulation results to the empirical data. The results demonstrate the accuracy of the proposed model in predicting the needle tip deflection for different insertion velocities.

AB - In needle-based medical procedures, beveled-tip flexible needles are steered inside soft tissue with the aim of reaching pre-defined target locations. The efficiency of needle based interventions depends on accurate control of the needle tip. This paper presents a comprehensive mechanics-based model for simulation of planar needle insertion in soft tissue. The proposed model for needle deflection is based on beam theory, works in real-time, and accepts the insertion velocity as an input that can later be used as a control command for needle steering. The model takes into account the effects of tissue deformation, needle-tissue friction, tissue cutting force, and needle bevel angle on needle deflection. Using a robot that inserts a flexible needle into a phantom tissue, various experiments are conducted to separately identify different subsets of the model parameters. The validity of the proposed model is verified by comparing the simulation results to the empirical data. The results demonstrate the accuracy of the proposed model in predicting the needle tip deflection for different insertion velocities.

U2 - 10.1109/ICRA.2015.7139499

DO - 10.1109/ICRA.2015.7139499

M3 - Conference contribution

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EP - 2269

BT - Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA)

PB - Institute of Electrical and Electronics Engineers

CY - Seattle, WA, USA

T2 - 2015 IEEE International Conference on Robotics and Automation

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ER -

Khadem S, Fallahi B, Rossa C, Sloboda RS, Usmani N, Tavakoli M. A Mechanics-based Model for Simulation and Control of Flexible Needle Insertion in Soft Tissue. In Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA). Seattle, WA, USA: Institute of Electrical and Electronics Engineers. 2015. p. 2264-2269 doi: 10.1109/ICRA.2015.7139499

A Mechanics-based Model for Simulation and Control of Flexible Needle Insertion in Soft Tissue

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