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- Title
MODELING THE FLEXIBLE NEEDLE INSERTION INTO THE HUMAN LIVER.
- Authors
CHIROIU, Veturia; NEDELCU, Nicoleta; MUNTEANU, Ligia; RUGINĂ, Cristian; IONESCU, Marius; DRAGNE, Ciprian
- Abstract
We report the deformation of the needle during its insertion into the human liver in the context of surgery simulation of the high-robotic-assisted intraoperative treatment of liver tumors based on the integrated imaging-molecular diagnosis. The bee needle is modeled as a flexible thread within the framework of the nonlinear elasticity theory. The motion equations of the needle are similar to Tzitzeica equations of surfaces which are invariant under the group of centro-affine transformations. That means the surfaces tend to minimize their area and have a minimal Dirichlet energy of how variable a function is. The closed form solutions are obtained for deformation of the needle. In addition, the collision between the needle and the tissues is modeled as a minimization problem.
- Subjects
LIVER; SURGERY; INTRAOPERATIVE care; ELASTICITY; DIRICHLET forms
- Publication
Proceedings of the Romanian Academy, Series A: Mathematics, Physics, Technical Sciences, Information Science, 2021, Vol 22, Issue 2, p163
- ISSN
1454-9069
- Publication type
Article