Sharif Digital Repository

In percutaneous applications, needle insertion into soft tissue is considered as a challenging procedure, and hence, it has been the subject of many recent studies. This study considers a model-based dynamics equation to evaluate the needle movement through prostate soft tissue. The proposed model estimates the applied force to the needle using the tissue deformation data and finite element model of the tissue. To address the role of mechanical properties of the soft tissue, an inverse dynamics control method based on sliding mode approach is used to demonstrate system performance in the presence of uncertainties. Furthermore, to deal with inaccurate estimation of mechanical parameters of... 

Needle insertion simulation and planning systems (SPSs) will play an important role in diminishing inappropriate insertions into soft tissues and resultant complications. Difficulties in SPS development are due in large part to the computational requirements of the extensive calculations in finite element (FE) models of tissue. For clinical feasibility, the computational speed of SPSs must be improved. At the same time, a realistic model of tissue properties that reflects large and velocity-dependent deformations must be employed. The purpose of this study is to address the aforementioned difficulties by presenting a cost-effective SPS platform for needle insertions into the liver. The study...