Modelling and real-time dynamic simulation of flexible needles for prostate biopsy and brachytherapy

Athanasios Martsopoulos, Thomas L. Hill, Rajendra Persad, Stefanos Bolomytis and Antonia Tzemanaki

Mathematical and Computer Modelling of Dynamical Systems, 2023, vol. 29, issue 1, 1-40

Abstract: Percutaneous needle insertion constitutes a widely adopted technique for performing minimally invasive operations. Robot-assisted needle placement and virtual surgical training platforms have the potential to significantly improve the accuracy of these operations. For this, the development of mathematical models that provide a complete characterization of the underlying dynamics of medical needles is considered of paramount importance. In this paper, we develop two three-dimensional nonlinear rigid/flexible dynamic models of brachytherapy and local anaesthetic transperineal biopsy (LATP) needles. The proposed models relax the assumptions of previous investigations, quantify the vibrational behaviour and the rigid-body dynamics of medical needles and allow for real-time haptic and visual feedback information. Their accuracy and computational efficiency are assessed and validated using commercial software. The results show that, among the examined methods, the Rigid Finite Element Method provides the most accurate and numerically efficient solution for capturing the dynamics of flexible medical needles.

Date: 2023
References: Add references at CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/13873954.2022.2158875 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:nmcmxx:v:29:y:2023:i:1:p:1-40

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/NMCM20

DOI: 10.1080/13873954.2022.2158875

Access Statistics for this article

Mathematical and Computer Modelling of Dynamical Systems is currently edited by I. Troch

More articles in Mathematical and Computer Modelling of Dynamical Systems from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().