Abstract
Medical interventions require control over surgical needle insertion to minimize tissue damage and target inaccuracies during percutaneous procedures. The composite coating of the needle using Polydopamine (PDA), Polytetrafluoroethylene (PTFE), and Activated Carbon (C) has been used to reduce the damaging needle insertion force. This research aims to further understand the interfacial mechanics of coated needle insertion by studying the forces at the needle and tissue interface and developing an analytical insertion force model through a combined experimental and numerical method. The proposed analytical force model is divided into two components: (1) Friction force on the needle shaft, modeled using a modified Karnopp model that includes an elastic force component; (2) Cutting force on the needle tip, modeled using a constant cutting coefficient for a given tissue and insertion speed. In this work, the analytical model was established by incorporating experiments conducted at a reasonable 35 mm insertion depth in tissues. In a bovine kidney with a 35 mm insertion depth, the insertion force evaluated through experimentation and modeling differed by 6.5% for a bare needle and 17.1% for a coated needle. It is important to note that this difference in the analytical insertion force model is anticipated when dealing with real tissues with a highly complex structured tissue. Prediction of the insertion force could potentially be utilized in robotic needle systems for needle control to improve the success of percutaneous procedures.
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