Haptic simulation of flexible needle insertion

A flexible needle insertion simulation with force feedback is proposed. The objectives of this simulation are to evaluate the influence of needle parameters (length, radius) to insertion process and train users to better understand the process. Needle buckling will be witnessed while inserting a slender needle into tissue if the exerted force is larger than the critical force of a given flexible needle. Needle buckling can greatly affect the insertion performance, and it can also be utilized to control the insertion path inside tissue. This simulation system can assist users to choose appropriate needle parameters, and train them to be familiar with the process of flexible needle insertion, which is different from traditional needle insertion. Efficient modeling methods for tissue deformation, needle buckling and deflection, haptic rendering are proposed. An experimental simulator based on the proposed methods is developed.