Study on bending modeling of cannula flexible needle inserting into soft tissue based on finite element method

被引：0
|
作者：
Zhao Y. [1 ,2 ]
Fang Y. [2 ]
Zhang Y. [1 ,2 ]
Zhang R. [2 ]
机构：
[1] Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin
[2] Intelligent Machine Institute, Harbin University of Science and Technology, Harbin
来源：
Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument | 2020年 / 41卷 / 03期
关键词：
Bending model; Cannula flexible needle; Finite element analysis; Mechanical modeling; Soft tissue modeling;
D O I：
10.19650/j.cnki.cjsi.J1905790
中图分类号：
学科分类号：
摘要：
As an important branch of the flexible needle, the cannula flexible needle has great advantages over other traditional flexible needles in the aspects of needle path correction, insertion flexibility and the control accuracy of bevel tip rotation angle. In order to deeply study the insertion mechanism of the cannula flexible needle, the insertion bending model is established based on finite element method. The biomechanical properties of soft tissue are analyzed and an accurate soft tissue model is established; the force analysis for the cannula flexible needle inserting into soft tissue is carried out and the corresponding mechanical model is established. On the basis of the mechanical model, the bending model for the cannula flexible needle inserting into soft tissue is established and the simulations are conducted. Finally, the force-time curve and the needle bending deformation curve were obtained through experiments, which are compared with the simulation curves. The results show that the simulation result accords with the changing trend of the insertion force obtained in the experiment and the system bending error is within 2mm, which meets the medical requirements. The results verify the correctness and rationality of the mechanical model and bending model of the cannula flexible needle inserting into soft tissue, which lays a theoretical foundation for the path planning and control. © 2020, Science Press. All right reserved.
引用
收藏
页码：202 / 211
页数：9
相关论文
共 24 条
  • [1] LIU W, YANG Z, LI P, Et al., Mechanics of tissue rupture during needle insertion in transverse isotropic soft tissue, Medical and Biological Engineering and Computing, 57, 6, pp. 1353-1366, (2019)
  • [2] GAO D D, LI Q, LEI Y, Et al., Geometric approximation approach based research on kinematics of bevel-tip flexible needles, Journal of Zhejiang University, 51, 4, pp. 706-713, (2017)
  • [3] ADAGOLODJO Y, GOFFIN L, DE MATHELIN M, Et al., Robotic insertion of flexible needle in deformable structures using inverse finite-element simulation, Transactions on Robotics, 35, 3, pp. 697-708, (2019)
  • [4] FU J J, GAO D D, ZHAO M X, Et al., Simulation of coupling process of flexible needle insertion into soft tissue based on ABAQUS, Journal of Qinghai University, 37, 1, pp. 61-67, (2019)
  • [5] ASADIAN A, PATEL R V, KERMANI M R., Dynamics of translational friction in needle-tissue interaction during needle insertion, Annals of Biomedical Engineering, 42, 1, pp. 73-85, (2014)
  • [6] TAKABI B, TAI B L., A review of cutting mechanics and modeling techniques for biological materials, Medical Engineering & Physics, 45, 2, pp. 1-14, (2017)
  • [7] ZHAO Y J, HUANG L, DU H Y, Et al., Motion planning of the cannula flexible needle based on the improved RRT algorithm, Chinese Journal of Scientific Instrument, 38, 3, pp. 620-628, (2017)
  • [8] SHI K M, ZHANG Y D, ZHAO Y J, Et al., A novel design of insertion mechanism for cannula flexible needle applied in minimally invasive surgery, Recent Patents on Engineering, 12, 3, pp. 215-222, (2018)
  • [9] SEDEH S, AHMADIAN T, JANABI-SHARIFI F., Modeling, simulation, and optimal initiation planning for needle insertion into the liver, Journal of Biomechanical Engineering, 132, 4, pp. 1-11, (2010)
  • [10] ZHANG J, ZHONG Y M, GU CH F., Deformable models for surgical simulation: a survey, Reviews in Biomedical Engineering, 11, 9, pp. 143-164, (2017)
123