Abstract
Modeling the deflection of flexible needles is an essential part of needle insertion simulation and path planning. In this paper, three models are compared in terms of accuracy in simulating the bending of a prostate brachytherapy needle. The first two utilize the finite element method, one using geometric non-linearity and triangular plane elements, the other using non-linear beam elements. The third model uses angular springs to model cantilever deflection. The simulations are compared with the experimental bent needle configurations. The models are assessed in terms of geometric conformity using independently identified and pre-identified model parameters. The results show that the angular spring model, which is also the simplest, simulates the needle more accurately than the others.
Chapter PDF
References
Alterovitz, R., Goldberg, K., Pouliot, J., Taschereau, R., Hsu, I.C.: Needle insertion and radioactive seed implantation in human tissue: Simulation and sensitivity analysis. In: Proc. IEEE Int. Conf. Rob. Autom., vol. 2, pp. 1793–1799 (2003)
DiMaio, S., Salcudean, S.: Interactive simulation of needle insertion models. IEEE Trans. Biomed. Eng. 52, 1167–1179 (2005)
Webster III, R., Cowan, N., Chirikjian, G., Okamura, A.: Nonholonomic modeling of needle steering. In: Proc. Int. Symp. on Exp. Robotics, pp. 3337–3343 (2004)
Goksel, O., DiMaio, S.P., Salcudean, S.E., Rohling, R., Morris, J.: 3D needle-tissue interaction simulation for prostate brachytherapy. In: Duncan, J.S., Gerig, G. (eds.) MICCAI 2005. LNCS, vol. 3749, pp. 827–834. Springer, Heidelberg (2005)
Alterovitz, R., Goldberg, K., Chirikijan, G., Okamura, A.: Steering flexible needle under markov motion uncertainity. In: IEEE Int. Conf. Intel. Rob. Sys., pp. 120–125 (2005)
Alterovitz, R., Goldberg, K., Okamura, A.: Planning for steerable bevel-tip needle insertion through 2D soft tissue with obstacles. In: Proc. IEEE. Int. Conf. Rob. Autom., pp. 1652–1657 (2005)
Glozman, D., Shoham, M.: Flexible needle steering and optimal trajectory planning for percutaneous therapies. In: Barillot, C., Haynor, D.R., Hellier, P. (eds.) MICCAI 2004. LNCS, vol. 3217, pp. 137–144. Springer, Heidelberg (2004)
DiMaio, S.P., Salcudean, S.E.: Needle insertion modeling and simulation. IEEE Trans. Robotics and Automation 19, 864–875 (2003)
Simone, C., Okamura, A.: Modeling of needle insertion forces for robot-assisted percutaneous therapy. In: Proc. IEEE Int. Conf. Rob. Autom., pp. 2085–2091 (2002)
Anjyo, K., Usami, Y., Kurihara, T.: Simple method for extracting the natural beauty of hair. Computer Graphics (ACM) 26, 111–120 (1992)
Anshelevich, E., Owens, S., Lamiraux, F., Kavraki, L.E.: Deformable volumes in path planning applications. In: Proc. IEEE Int. Conf. Rob. Autom., pp. 2290–2295 (2000)
Reddy, J.N.: An Introduction to Nonlinear Finite Element Analysis. Oxford University Press, Oxford (2004)
Ebrahimi, R., Okazawa, S., Rohling, R., Salcudean, S.: Hand-held steerable needle device. In: Ellis, R.E., Peters, T.M. (eds.) MICCAI 2003. LNCS, vol. 2879, pp. 223–230. Springer, Heidelberg (2003)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Dehghan, E., Goksel, O., Salcudean, S.E. (2006). A Comparison of Needle Bending Models. In: Larsen, R., Nielsen, M., Sporring, J. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI 2006. MICCAI 2006. Lecture Notes in Computer Science, vol 4190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11866565_38
Download citation
DOI: https://doi.org/10.1007/11866565_38
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-44707-8
Online ISBN: 978-3-540-44708-5
eBook Packages: Computer ScienceComputer Science (R0)