Needle force insertion modeling based on comparison of ex-vivo tissue and phantom tissue

The research related to the needle force insertion modeling were limited by using a single object to support the desired performance value. In this paper, we proposed the comparison of two different of tissue objects i.e. beef liver as ex-vivo tissue and silicon rubber as phantom tissue. Experiment was performed by 1-DOF haptic feedback simulator. For the speed range 5,11–6,46 mm/sec, interaction between needle and tissue giving the same behavior but different in the details value. Therefore, by utilizing our proposed models, the application of haptic feedback simulator system should be considered for further development.