Percutaneous needle insertions are commonly performed for diagnostic and therapeutic purposes as an effective alternative to more invasive surgical procedures. However, the outcome of needle-based approaches relies heavily on the accuracy of needle placement, which remains a challenge even with robot assistance and medical imaging guidance due to needle deflection caused by contact with soft tissues. In this paper, we present a novel mechanics-based 2D bevel-tip needle model that can account for the effect of nonlinear strain-dependent behavior of biological soft tissues under compression. Real-time finite element simulation allows multiple control inputs along the length of the needle with full three-degree-of-freedom (DOF) planar needle motions. Cross-validation studies using custom-designed multi-layer tissue phantoms as well as heterogeneous chicken breast tissues result in less than 1mm in-plane errors for insertions reaching depths of up to 61 mm, demonstrating the validity and generalizability of the proposed method.

翻译：经皮穿刺针插入术常作为更具侵入性外科手术的有效替代方案，用于诊断和治疗目的。然而，基于针刺的方法的效果在很大程度上依赖于针头放置的准确性，即使有机器人辅助和医学影像引导，由于针头与软组织接触引起的偏转，这仍然是一个挑战。在本文中，我们提出了一种新颖的基于力学的二维斜角针头模型，该模型能够考虑生物软组织在压缩下的非线性应变依赖行为的影响。实时有限元模拟允许沿针头长度方向进行多个控制输入，实现完整的平面三自由度针头运动。使用定制设计的多层组织体模以及异质鸡胸组织的交叉验证研究表明，对于深度达61毫米的插入，平面内误差小于1毫米，证明了所提出方法的有效性和普适性。