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In order to reduce deflection of the stabbing needle and increase the accuracy of the robot-assisted needle insertion into soft tissue, A physical model of stabbing needle is built with elastic beam. We put forward a algorithm to analyze force added on stabbing needle and got the deflection and angle of element node. The theoretical calculation and experimental simulation shows the validation and...
The success of medical needle insertion procedures often depends on success of medial needle guidance to a specific target in soft tissue. In this paper application of needle steering with the ability of rotating in the manipulator investigated. For this purpose the mechanism of rotation presented here to obtain all directions of the motion and not to face with polygonal obstacles, which could be...
In this paper, the interaction force between a surgical needle and soft tissue is studied. The force is modeled using nonlinear dynamics based on a modified LuGre model that captures all stages of needle-tissue interaction including puncture, cutting, and friction forces. An estimation algorithm for identifying the associated parameters is then presented. This approach, which is based on extended...
In this video we present a physics-based haptic simulation designed to teach basic suturing techniques for simple skin or soft tissue wound closure. The pre-wound suturing target, skin or deformable tissue, is modeled as a modified mass-spring system. The suturing material is designed as a mechanics-based deformable linear object. Tools involved in the live suturing procedures are also simulated....
This paper presents needle insertion forces for haptic feedback device in soft tissue. The force information from needle insertions is being measured by the sensor. The force feedback produced by the device can be used in robot-assisted percutaneous therapies. The objective of the work reported here is to design a device for reality-based data. Insertion force data was collected on chicken skin and...
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