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Flexible needle insertion into soft tissues

Needle insertion procedures are commonly used to treat and to diagnose several pathologies, such as prostate cancer, hepatic tumors, and others. 

We have developed an advanced simulation of the interactions between a rigid or flexible needle and deformable tissue where 
  • the tissue is modeled with co-rotational tetrahedral finite elements 
  • the needle is discretized by Timoshenko formulation of beams
  • the needle-tissue interaction is based on advanced constraints allowing for parameterized simulation of different types of forces acting during the insertion (cutting force, static and dynamic friction, membrane puncture force)