Needle-tissue interaction forces for bevel-tip steerable needles

  title={Needle-tissue interaction forces for bevel-tip steerable needles},
  author={Sarthak Misra and K. Reed and A. S. Douglas and K. T. Ramesh and A. M. Okamura},
  journal={2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics},
The asymmetry of a bevel-tip needle results in the needle naturally bending when it is inserted into soft tissue. As a first step toward modeling the mechanics of deflection of the needle, we determine the forces at the bevel tip. In order to find the forces acting at the needle tip, we measure rupture toughness and nonlinear material elasticity parameters of several soft tissue simulant gels and chicken tissue. We incorporate these physical parameters into a finite element model that includes… CONTINUE READING
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