Needle Insertion Modelling for the Interactive Simulation of Percutaneous Procedures

A novel interactive virtual needle insertion simulation is presented. The insertion model simulates three-degree-of-freedom needle motion, physically-based needle forces, linear elastostatic tissue deformation and needle flexibility for the planning and training of percutaneous therapies and procedures. To validate the approach, an experimental system for measuring planar tissue deformation during needle insertions has been developed and is presented. A real-time simulation algorithm allows users to manipulate the virtual needle as it penetrates a tissue model, while experiencing steering torques and lateral needle forces through a planar haptic interface. Efficient numerical computation techniques permit fast simulation of relatively complex two-dimensional and three-dimensional environments at haptic control rates.