Needle deformation in the process of puncture surgery: experiment and simulation

摘要

Needle insertion in soft tissue has attracted considerable attention in recent years due to its application in minimally invasive surgery such as biopsies, intravenous injection and brachytherapy. In order to ensure the accuracy of surgery, the surgical simulation process requires accurate modeling of the contact behavior between instrument and soft tissue. However, it is difficult to carry out a simulation of the needle deformation in the puncture process. Hence, in this paper, the deformation of the puncture needle specially focusses on muscle puncture surgery in the process of robot-assisted puncture is analyzed and investigated. Interaction during puncture is modeling and simulated using Abaqus to obtain the displacement curve of tissue and the force curve of needle. Insertion experiments are performed to verify the simulation results, and the insertion mechanisms of the soft tissue under different under different diameters of needles, insertion velocities, insertion depth and rotational angles are revealed and discussed. Relevant analysis is performed to direct the real surgery and make it more accurate.