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The force acting on the needle in the biological tissue is crucial to analyzing needle deformation during robot-assisted biopsies and surgeries. In this paper, the interaction between the three-dimensional (3D) needle tip and the orthotropic tissue that is muscle and the needle deformation model in different insertion postures are studied. The Coupled Eulerian Lagrangian (CEL) method and the maximum principal stress damage model are employed for finite element (FE) analysis, respectively. The combination of theoretical derivation and simulation shows that in addition to the force on the inclined plane, the needle may also be resisted by muscle fibers in the tissue and the prediction of the tip deflection is generally effective. The present model can assist in guiding the controllable needle to reach the target inside the body with greater accuracy.

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Deformation Modeling of Interaction Between Puncture Needle and Soft Biological Tissues

  • 会议论文

  • 发表日期：

    2025年

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  • Yuexuan Wang,
  • Qinjian Zhang,
  • Haiyuan Li,
  • Hongxing Song

摘要

The force acting on the needle in the biological tissue is crucial to analyzing needle deformation during robot-assisted biopsies and surgeries. In this paper, the interaction between the three-dimensional (3D) needle tip and the orthotropic tissue that is muscle and the needle deformation model in different insertion postures are studied. The Coupled Eulerian Lagrangian (CEL) method and the maximum principal stress damage model are employed for finite element (FE) analysis, respectively. The combination of theoretical derivation and simulation shows that in addition to the force on the inclined plane, the needle may also be resisted by muscle fibers in the tissue and the prediction of the tip deflection is generally effective. The present model can assist in guiding the controllable needle to reach the target inside the body with greater accuracy.