Needle-tissue interaction model based needle path planning method.

Background And Objective: In needle insertion procedure, needle deflection and target movement will affect targeting accuracy. Existing planning algorithms rely on predetermined interaction force and parameters, which increase the targeting error for the patient-specific difference. In this paper, we proposed a needle-tissue interaction model based needle path planning method with patient-specific parameter identification algorithm, which is able to use iteration learning control and interaction model predicted information to improve targeting accuracy with the consideration of patient-specific differences.

A novel computational fracture toughness model for soft tissue in needle insertion.

During the process of percutaneous puncture vascular intervention operation in endoscopic liver surgery, high precision needle manipulation requires the accurate needle tissue interaction model where the tissue fracture toughness is an important parameter to describe the tissue crack propagation, as well as to estimate tissue deformation and target displacement. However, the existing studies on fracture toughness estimation did not consider Young's modulus and the organ capsule structure. In this paper, a novel computational fracture toughness model is proposed considering insertion velocity, needle diameter and Young's modulus in insertion process, where the fracture toughness is determined by the tissue surface deformation, which was estimated through energy modeling using integrated shell element and three-dimensional solid element.

A novel material point method (MPM) based needle-tissue interaction model.

Needle-tissue interaction model is essential to tissue deformation prediction, interaction force analysis and needle path planning system. Traditional FEM based needle-tissue interaction model would encounter mesh distortion or continuous mesh subdivision in dealing with penetration, in which the computational instability and poor accuracy could be introduced. In this work, a novel material point method (MPM) is applied to establish the needle-tissue interaction model which is suitable to handle the discontinuous penetration problem.