Reality-based Haptic Feedback for Needle Puncture - Modeling, Validation, and Simulation

Reality-based models and accurate simulations of needle insertions into soft tissue require the extraction of internal tissue deformation and needle forces during insertion. It also requires the development of devices that can accurately display these forces to the user. Our dual C-Arm fluoroscopy setup allows for the real time 3-D extraction of the displacement of implanted fiducials in the soft tissue during needle insertion. Using this information and collected force data, we have, validated the LEM computed from our finite element model with arbitrary needle puncture tasks. Additionally, we have simulated a realistic needle puncture task using the 7 degree-of-freedom haptic feedback device developed in our laboratory.