Needle insertion modeling and simulation
Needle insertion modeling and simulation
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DOI：
10.1109/tra.2003.817044
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发表时间：
2003-10-01
期刊：
影响因子：
--
通讯作者：
Salcudean, SE
中科院分区：
文献类型：
--
作者：
DiMaio, SP;Salcudean, SE
描述了一种用于估计在插入期间沿沿着针杆发生的力分布的方法。本文介绍了一种测量平面组织模型在针插入过程中变形的实验系统。一个二维线性弹性静力学材料模型，离散使用有限元法，是用来推导接触力的信息，是不能直接测量。该方法提供了一种用于量化在多个维度中的一般针轨迹期间发生的针力和软组织变形的方法。针力分布用于针插入的图形和触觉实时模拟。由于只需要沿着针的力位移关系，冷凝技术，以实现非常快速的交互式模拟。刚度矩阵的变化对应于边界条件和材料坐标系的变化，使用低秩矩阵更新。
A methodology for estimating the force distribution that occurs along a needle shaft during insertion is described. An experimental system for measuring planar tissue phantom deformation during needle insertions has been developed and is presented. A two-dimensional linear elastostatic material model, discretised using the finite element method, is used to derive contact force information that is not directly measurable. This approach provides a method for quantifying the needle forces and soft tissue deformations that occur during general needle trajectories in multiple dimensions. The needle force distribution is used for graphical and haptic real-time simulations of needle insertion. Since the force displacement relationship is required only along the needle, a condensation technique is shown to achieve very fast interactive simulations. Stiffness matrix changes corresponding to changes in boundary conditions and material coordinate frames are performed using low-rank matrix updates.