Study and experimental investigation of insertion force modeling and tissue deformation phenomenon during surgical needle-soft tissue interaction

Surgical needle insertion is generally used in the current advanced surgery process, particularly in the area of biopsy, MIS or minimally invasive surgery, brachytherapy, etc. During the needle insertion performance into the soft tissue, one of the most important issues is the tissue deformation that affects the needle engagement inside the tissue material. We have presented an energy-based insertion model, and the conical shape of deformed tissue is assumed. The tests are performed on PVA gel samples, and the model is analyzed to determine the tissue deformation volume during needle insertion into soft tissue. The procedures for evaluating the puncture force which creates the deformation of the contact point. With the help of the needle insertion experimental investigation, a geometric model of tissue deformation phenomenon and insertion force was investigated. The active needle-soft tissue contacts are studied, and with the help of the energy-based insertion model, the different factors like strain energy, potential, and dissipated energies are investigated. The tests are completed on the tissue mimic PVA gel samples, and the results show the volume and area of tissue deformation; at the time of initial needle insertion, the maximum tissue deformation arises and during the needle movement in the post-perforation stage, the deformation gradually decreases as the more peripheral work is altered into the vicious and degenerate energies. The maximum insertion force was noticed in 14° bevel angle needle tip and at 3 mm/s needle insertion speed, the volume of tissue deformation was maximum. The maximum deformation of the issue arises at the initial perforate position, and the distortion reduces along with the raises of the needle movement during the post-insertion period as the needle insertion work is converted into vicious and dissolute energies.