A Novel Full Prediction Model of 3D Needle Insertion Procedures.

Needle-tissue interaction deformation model can provide the future interaction deformation prediction which can be used to establish the virtual surgery training platform. The prediction information can be used to assist needle path planning scheme. However, existing models either only model the global coupled deformation without force prediction module or model the local contact mechanism between the needle and tissue. The calculation efficiency of the contact mechanism based model limits its application in needle path planning task. In this paper, a novel full prediction model of 3D needle insertion procedures was proposed. The Kriging model can realize fast calculation of the friction force, which is coupled to the 3D needle-tissue coupled deformation model. The local constraint method is applied to avoid the reconstruction of stiffness matrix in each step. The model can simultaneously predict tissue deformation, needle deflection and the interaction force with an acceptable calculation efficiency. The simulation results demonstrate the accuracy of the Kriging based friction force model. The visual simulation results of needle insertion process was also given in this paper. The simulation calculation speed (with an average run time of 30 s) demonstrates the feasibility of its application to needle path planning schemes.