This paper presents a needle-tissue interaction model that is a 3D extension of a prior work based on the finite element method. The model is also adapted to accommodate arbitrary meshes so that the anatomy can effectively be meshed using third-party algorithms. Using this model a prostate brachytherapy simulator is designed to help medical residents acquire needle steering skills. This simulation uses a prostate mesh generated from clinical data segmented as contours on parallel slices. Node repositioning and addition, which are methods for achieving needle-tissue coupling, are discussed. In order to achieve real-time haptic rates, computational approaches to these methods are compared. Specifically, the benefit of using the Woodbury formula (matrix inversion lemma) is studied. Our simulation of needle insertion into a prostate is shown to run faster than 1 kHz. © Springer-Verlag Berlin Heidelberg 2005.
CITATION STYLE
Goksel, O., Salcudean, S. E., DiMaio, S. P., Rohling, R., & Morris, J. (2005). 3D needle-tissue interaction simulation for prostate brachytherapy. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 3749 LNCS, pp. 827–834). https://doi.org/10.1007/11566465_102
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