Spatial Rigid/Flexible Dynamic Model of Biopsy and Brachytherapy Needles Under a General Force Field

Athanasios Martsopoulos*, Tom L Hill, Antonia Tzemanaki

*Corresponding author for this work

Research output: Contribution to conferenceConference Paperpeer-review

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Abstract

Computer-aided simulation of percutaneous needle insertion, as a training tool for junior surgeons, is expected to significantly increase targeting accuracy during minimally invasive operations. This work presents a novel mathematical model, based on the theory of flexible multibody dynamics, that captures the spatial dynamics of needles used for brachytherapy and local anaesthetic transperineal prostate (LATP) biopsy, under a general three-dimensional force field. Due to its
accuracy and its computational efficiency, the proposed model is expected to constitute a valuable tool for both real-time visual/haptic simulation and control of percutaneous needle insertion.
Original languageEnglish
Publication statusPublished - 29 Oct 2020
Eventconference is IROS 2020 -
Duration: 25 Oct 202029 Oct 2020

Conference

Conferenceconference is IROS 2020
Period25/10/2029/10/20

Keywords

  • Medical Robotics
  • Needle Steering
  • Rayleigh-Ritz Method
  • Finite Element Method
  • Flexible Multibody Dynamics

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