DocumentCode :
2589559
Title :
Modeling and simulation of friction forces during needle insertion using Local Constraint Method
Author :
Wang, Lijuan ; Wang, Zhongkui ; Hirai, Shinichi
Author_Institution :
Dept. of Robot., Ritsumeikan Univ., Kusatsu, Japan
fYear :
2012
fDate :
7-12 Oct. 2012
Firstpage :
4926
Lastpage :
4932
Abstract :
In modern clinical practices, accurate orientation for needle-like tools inserting into soft tissues is cumbersome, mainly due to the tissue´s non-linear deformation and the complicated combination of forces between the tissue and the tool. In this paper, the interaction between tissue deformation and friction forces has been discussed. We consider the relative velocity and contact length as the main factors of friction force during tissue deforming. An available friction model has been built for dynamic needle insertion simulation based on Finite Element (FE) framework. A Local Constraint Method (LCM) is proposed to calculate the tissue deformation and apply the friction forces to the tissue frame for avoiding remeshing. In our approach a series of equivalent constraints and forces are generated by decomposing them inside Local Regions (LRs) to nodal points. Simulations based on this method to realize the dynamic needle insertion have been conducted for validation.
Keywords :
biological tissues; biomechanics; deformation; finite element analysis; friction; mechanical contact; needles; FE framework; LCM; clinical practices; contact length; dynamic needle insertion simulation; equivalent constraints; finite element framework; friction force modeling; friction force simulation; local constraint method; local regions; needle-like tool orientation; nodal points; nonlinear deformation; relative velocity; soft tissues; tissue deformation; tissue frame; Deformable models; Dynamics; Finite element methods; Force; Friction; Needles; Shafts;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
ISSN :
2153-0858
Print_ISBN :
978-1-4673-1737-5
Type :
conf
DOI :
10.1109/IROS.2012.6385756
Filename :
6385756
Link To Document :
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