A Generalized Tracking Wall Approach to the Haptic Simulation of Tip Forces During Needle Insertion

Haptic simulation of needle insertion requires both a needle-tissue interaction model and a method to render the outputs of this model into real-time force feedback for the user. In comparison with interaction models, rendering methods in the literature have seen little development and are either oversimplified or too computationally complex. Therefore, this study introduces the Generalized Tracking Wall (GTW) approach, a haptic rendering method inspired by the proxy approach. It aims to accurately simulate the interaction between a needle tip and soft tissues without the complex calculations of tissue deformations. The essence of the proposed method is that it associates an algorithm based on the energetic analysis of cutting with a contact model capable of simulating viscoelasticity and nonlinearity. This association proved to be a potent tool to faithfully replicate the different phases of needle insertion while adhering to underlying physics. Multi-layered-tissue insertions are also considered. The performance and generecity of the GTW are first evaluated through simulations. Then, the GTW is experimentally compared to empirical methods inspired by the literature.