Abstract
Objective The purpose of our work was to develop an integrated system with image guidance and deformation simulation for the purpose of accurate needle insertion. Methods We designed an ultrasound-guided needle insertion manipulator and physical model to simulate liver deformation. We carried out an in vivo experiment using a porcine liver to verify the effectiveness of our manipulator and model. Results The results of the in vivo experiment showed that the needle insertion manipulator accurately positions the needle tip into the target. The experimental results also showed that the liver model accurately reproduces the nonlinear increase of force upon the needle during insertion. Discussion Based on these results, it is suggested that the needle insertion manipulator and the physical liver model developed and validated in this work are effective for accurate needle insertion.
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