Realistic force reflection in a spine biopsy simulator

This paper proposes a scheme to produce realistic force reflection in a needle insertion problem. The target system is a spine needle biopsy simulator for tumor inspection by needle insertion. Simulated force is calculated using a 3D human tissue model and the orientation and position of the needle, and is produced through the PHANToM^TM device. To generate realistic force reflection, the directional force of the needle has been generated by a related tissue model, and the rotational force is generated using a pivot to keep the needle in the initial inserted direction after puncturing the skin. Since the haptic device has limitations in generating high stiffness and large damping, a scale-down model and digital filter are used to stabilize the system.