Hollow needle tissue insertion force model

In this study, a mechanistic approach using elementary cutting tool (ECT) edges of varying inclination and normal rake angles is demonstrated to be capable to predict hollow needle insertion force. A needle force model is developed and validated for the specific case of 11 gauge two-plane symmetric needles. Blades of varying inclination and rake angles are inserted into bovine liver to determine the specific force of initial tissue cutting for the given edge geometry; this information is applied to the ECT force model which is validated against experimental force results of hollow needles inserted into bovine liver.