Simulated interactive needle insertion

A novel interactive virtual needle insertion simulation is presented. The simulation models are based on planar tissue deformations and forces measured during needle insertion experiments. Users are able to control a three degree-of-freedom virtual needle as it penetrates a linear elastostatic tissue model, while experiencing steering torques and lateral needle forces through a planar haptic interface. Efficient numerical computation techniques permit fast simulation of relatively complex two-dimensional and three-dimensional environments at haptic control rates.