Modeling and Measuring the Dynamic 3D Effects of Needle Insertion in Soft Tissue

Models that predict soft tissue deformation during needle insertion could improve the accuracy of needle based medical procedures. In an effort to establish a method for defining and validating such models, we present an experimental setup including hardware and software for recording and measuring the time-dependent, 3D deformation that occurs as a needle is inserted into soft material. Algorithms are described for tracking a needle and fiducials in 3D based on stereo video recordings. The results of the initial experiment clearly demonstrate the non-linear, viscoelastic nature of deformations caused by needle insertion.