Medical & Biological Engineering & Computing

, Volume 57, Issue 6, pp 1353–1366 | Cite as

Mechanics of tissue rupture during needle insertion in transverse isotropic soft tissue

  • Wanyu Liu
  • Zhiyong Yang
  • Pan Li
  • Jianpeng Zhang
  • Shan JiangEmail author
Original Article


During robot-assisted percutaneous puncture surgery, a bevel-tipped needle is inserted into a fiber-structured soft tissue, which has transverse isotropic mechanical properties. Tissue rupture may lead to needle bending and insertion error. Therefore, analysis of the mechanics of rupture events in transverse isotropic space is essential for the precise control of needle motion. We analyzed the needle stiffness force and the cutting force, both related to rupture events, which are caused by contact deformation and tissue cutting, respectively. A modified model based on a homogeneous elastic half-space contact force model was used to describe the variation in the stiffness force of the needle. An energy-based maximum stiffness force model was proposed to predict the surface rupture for a needle that is inserted at different orientations. A model for the cutting force was presented based on a solid mechanics theory of unidirectional fiber-reinforced composite material to analyze the effect of the needle tip pose on the cutting force. Experiments on porcine muscle confirmed that the stiffness force and the cutting force were clearly influenced by the insertion orientation angle. The developed models could predict the stiffness force and the cutting force during needle insertion into the transverse isotropic tissue. This method provides a foundation for predicting needle deflection in the transverse isotropic space.

Graphical abstract

Force modeling for needle insertion in transverse isotropic soft tissue


Fiber-structured soft tissue Cutting force Stiffness force Insertion orientation Needle tip pose 



The authors would like to thank Mr. H Suo for his contribution to the experiment design and data collection. The authors would also like to thank Dr. C Suo and Dr. BB Farouk for their help in proofreading the manuscript.

This work was supported by the National Natural Science Foundation of China (No. 51775368 and No. 51811530310).


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Copyright information

© International Federation for Medical and Biological Engineering 2019

Authors and Affiliations

  1. 1.School of Mechanical EngineeringTianjin UniversityTianjin CityChina

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