Soft tissue deformation ANSYS simulation of robot-assisted percutaneous surgery

In order to reduce deflection of the stabbing needle and increase the accuracy of the robot-assisted needle insertion into soft tissue, A physical model of stabbing needle is built with elastic beam. We put forward a algorithm to analyze force added on stabbing needle and got the deflection and angle of element node. The theoretical calculation and experimental simulation shows the validation and consistency of the algorithm. The dynamic process of the soft tissue deformation during needle insertion is decomposed into a set of discrete quasi-static stages. We got every note´s displacement and force distribution of the soft tissue by simulating needle insertion into two and three dimensional tissue, which provide significant reference with predicting soft tissue deformation and planning before surgery.