The significance of rate dependency in blade insertions into a gelatin soft tissue phantom

► Blade insertions into a soft tissue phantom at various velocities. ► Friction and crack formation are highly rate dependent. ► At rates between 0.25 mm/s and 2 mm/s viscoelastic behaviour has limited impact. ► Corroborating finite element models use cohesive elements to simulate damage. ► Simulations indicate that contact models without adhesion may be insufficient.