Modelling and real-time dynamic simulation of flexible needles for prostate biopsy and brachytherapy
ABSTRACTPercutaneous 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 o...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Taylor & Francis Group
2023-12-01
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| Series: | Mathematical and Computer Modelling of Dynamical Systems |
| Subjects: | |
| Online Access: | https://www.tandfonline.com/doi/10.1080/13873954.2022.2158875 |
| _version_ | 1797393101265829888 |
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| author | Athanasios Martsopoulos Thomas L. Hill Rajendra Persad Stefanos Bolomytis Antonia Tzemanaki |
| author_facet | Athanasios Martsopoulos Thomas L. Hill Rajendra Persad Stefanos Bolomytis Antonia Tzemanaki |
| author_sort | Athanasios Martsopoulos |
| collection | DOAJ |
| description | ABSTRACTPercutaneous 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. |
| first_indexed | 2024-03-08T23:58:16Z |
| format | Article |
| id | doaj.art-f72226d1807a467b9a6b10312d1c9784 |
| institution | Directory Open Access Journal |
| issn | 1387-3954 1744-5051 |
| language | English |
| last_indexed | 2024-03-08T23:58:16Z |
| publishDate | 2023-12-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | Mathematical and Computer Modelling of Dynamical Systems |
| spelling | doaj.art-f72226d1807a467b9a6b10312d1c97842023-12-12T23:59:35ZengTaylor & Francis GroupMathematical and Computer Modelling of Dynamical Systems1387-39541744-50512023-12-0129114010.1080/13873954.2022.2158875Modelling and real-time dynamic simulation of flexible needles for prostate biopsy and brachytherapyAthanasios Martsopoulos0Thomas L. Hill1Rajendra Persad2Stefanos Bolomytis3Antonia Tzemanaki4School of Civil, Aerospace and Mechanical Engineering, University of Bristol, Bristol, UKSchool of Civil, Aerospace and Mechanical Engineering, University of Bristol, Bristol, UKBristol Urological Institute, Southmead Hospital, Bristol, UKBristol Urological Institute, Southmead Hospital, Bristol, UKSchool of Civil, Aerospace and Mechanical Engineering, University of Bristol, Bristol, UKABSTRACTPercutaneous 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.https://www.tandfonline.com/doi/10.1080/13873954.2022.2158875Surgery simulationneedle insertionflexible multibody dynamicsrigid finite element method |
| spellingShingle | Athanasios Martsopoulos Thomas L. Hill Rajendra Persad Stefanos Bolomytis Antonia Tzemanaki Modelling and real-time dynamic simulation of flexible needles for prostate biopsy and brachytherapy Mathematical and Computer Modelling of Dynamical Systems Surgery simulation needle insertion flexible multibody dynamics rigid finite element method |
| title | Modelling and real-time dynamic simulation of flexible needles for prostate biopsy and brachytherapy |
| title_full | Modelling and real-time dynamic simulation of flexible needles for prostate biopsy and brachytherapy |
| title_fullStr | Modelling and real-time dynamic simulation of flexible needles for prostate biopsy and brachytherapy |
| title_full_unstemmed | Modelling and real-time dynamic simulation of flexible needles for prostate biopsy and brachytherapy |
| title_short | Modelling and real-time dynamic simulation of flexible needles for prostate biopsy and brachytherapy |
| title_sort | modelling and real time dynamic simulation of flexible needles for prostate biopsy and brachytherapy |
| topic | Surgery simulation needle insertion flexible multibody dynamics rigid finite element method |
| url | https://www.tandfonline.com/doi/10.1080/13873954.2022.2158875 |
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