TY - GEN
T1 - Needle insertion force model for haptic simulation
AU - Gordon, Adam
AU - Barnett, Andrew C.
AU - Kim, Inki
AU - Moore, Jason Zachary
N1 - Publisher Copyright:
Copyright � 2015 by ASME.
PY - 2015
Y1 - 2015
N2 - Percutaneous medical procedures rely upon clinicians performing precise needle insertion in soft tissue. The utility of haptic simulation systems in training clinicians for these procedures is highly dependent upon the ability to render accurate insertion force feedback. This paper presents a piecewise mathematical model for insertion force that does not require tissue material properties, detailed mechanical approximations, or complex computations. With manipulation of model parameters, a wide variety of insertion tasks and clinical scenarios can be modeled. Through needle insertion experiments and parameter estimation, this model was demonstrated to replicate the insertion forces associated with a variety of needle and tissue types. In 11 of 12 needle and tissue combinations tested, the model replicated the insertion force with an average absolute mean error of less than 0.065 N.
AB - Percutaneous medical procedures rely upon clinicians performing precise needle insertion in soft tissue. The utility of haptic simulation systems in training clinicians for these procedures is highly dependent upon the ability to render accurate insertion force feedback. This paper presents a piecewise mathematical model for insertion force that does not require tissue material properties, detailed mechanical approximations, or complex computations. With manipulation of model parameters, a wide variety of insertion tasks and clinical scenarios can be modeled. Through needle insertion experiments and parameter estimation, this model was demonstrated to replicate the insertion forces associated with a variety of needle and tissue types. In 11 of 12 needle and tissue combinations tested, the model replicated the insertion force with an average absolute mean error of less than 0.065 N.
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U2 - 10.1115/MSEC20159352
DO - 10.1115/MSEC20159352
M3 - Conference contribution
AN - SCOPUS:84945151201
T3 - ASME 2015 International Manufacturing Science and Engineering Conference, MSEC 2015
BT - Materials; Biomanufacturing; Properties, Applications and Systems; Sustainable Manufacturing
PB - American Society of Mechanical Engineers
T2 - ASME 2015 International Manufacturing Science and Engineering Conference, MSEC 2015
Y2 - 8 June 2015 through 12 June 2015
ER -