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Research Papers

A Generalized Analytical Model of the Cutting Angles of a Biopsy Needle Tip

[+] Author and Article Information
Kornel Ehmann

e-mail: k-ehmann@northwestern.edu

Kostyantyn Malukhin

e-mail: k-malukhin@u.northwestern.edu
Department of Mechanical Engineering,
Northwestern University,
2145 Sheridan Road,
Evanston, IL 60208

Contributed by the Manufacturing Engineering Division of ASME for publication in the Journal of Manufacturing Science and Engineering. Manuscript received June 15, 2011; final manuscript received September 2, 2012; published online October 17, 2012. Editor: Y. Lawrence Yao.

J. Manuf. Sci. Eng 134(6), 061001 (Nov 12, 2012) (13 pages) doi:10.1115/1.4007712 History: Received June 15, 2011; Revised September 02, 2012

A general analytical model of the geometry of a biopsy needle tip is formulated. The model is then used to derive the correlations for the characteristic cutting mechanics angles and for their respective distribution along the active cutting edges of the needle tip. The angles are defined in analogy to the definitions used in cutting tool design for material removal operations. Specifically, analytical expressions for the inclination and rake angles of the tip are derived. The validity of the models was confirmed through their application to plausible needle tip geometries such as: flat, cylindrical and helical tips. The knowledge of the tip geometry and of the relevant angles is a prerequisite for the understanding of tissue cutting mechanics.

Copyright © 2012 by ASME
Topics: Cutting , needles
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References

O'Leary, M. D., Simone, C., Washio, T., Yoshinaka, K., and Okamura, A. M., 2003, “Robotic Needle Insertion: Effects of Friction and Needle Geometry,” IEEE International Conference on Robotics and Automation (ICRA 2003), Vol. 2, pp. 1774–1780. [CrossRef]
Misra, S., Reed, K. B., Douglas, A. S., Ramesh, K. T., and Okamura, A. M., 2008, “Needle-Tissue Interaction Forces for Bevel-Tip Steerable Needles,” 2008 2nd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2008), pp. 224–231. [CrossRef]
Abolhassani, N., Patel, R., and Moallem, M., 2007, “Needle Insertion Into Soft Tissue: A Survey,” Med. Eng. Phys., 29(4), pp. 413–431. [CrossRef] [PubMed]
DiMaio, S. P., and Salcudean, S. E., 2003, “Needle Insertion Modeling and Simulation,” IEEE Trans. Rob. Autom., 19(5), pp. 864–875. [CrossRef]
DiMaio, S. P., and Salcudean, S. E., 2005, “Interactive Simulation of Needle Insertion Models,” IEEE Trans. Biomed. Eng., 52(7), pp. 1167–1179. [CrossRef] [PubMed]
Boothroyd, G., and Knight, W. A., 2006, Fundamentals of Machining and Machine Tools, CRC/Taylor & Francis, Boca Raton, FL.
Juneja, B. L., Sekhon, G. S., and Seth, N., 2005, Fundamentals of Metal Cutting and Machine Tools, New Age International, New Delhi.
DiMaio, S. P., 2003, “Modeling, Simulation and Planning of Needle Motion in Soft Tissues,” Ph.D. dissertation, University of British Columbia, Vancouver.
Hiang, J. T., Brooks, A. D., and Desai, J. P., 2007, “A Bi-Planar Fluoroscopic Approach for the Measurement, Modeling, and Simulation of Needle and Soft-Tissue Interaction,” Med. Image Anal., 11, pp. 62–78. [CrossRef] [PubMed]
Ehmann, K., and Chyan, H. C., 1997, “Design and Analysis of Helical Drill Points,” Transactions NAMRI/SME, pp. 135–140.
Ehmann, K., and Chyan, H. C., 1998, “Development Of Curved Helical Micro-Drill Point Technology For Micro-Hole Drilling,” Mechatronics, 8, pp. 337–358. [CrossRef]
Ehmann, K., Kang, S. K., and Lin, C., 1993, “Comparative Analysis of Planar and Helical Micro-Drill Points,” Transactions of the North American Manufacturing Research Institution of SME 1993, Vol. 21, pp. 189–196.
Chyan, H. C., 1997, “Curved Helical Drill Technology for Micro-Hole Drilling,” Ph.D. dissertation, Northwestern University, Evanston, IL.
Moore, J. Z., 2009, “Tissue Cutting in Needle Biopsy,” Ph.D. dissertation, University of Michigan, Ann Arbor, MI.
Komanduri, R., Lee, M., and Raff, L. M., 2004, “The Significance of Normal Rake in Oblique Machining,” Int. J. Mach. Tools Manuf., 44, pp. 1115–1124. [CrossRef]

Figures

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Fig. 1

Different needle tips [3]

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Fig. 2

Schematic of cutting forces: (a) symmetric tip needle and (b) bevel tip needle [3]

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Fig. 3

Schematic of oblique cutting

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Fig. 4

General schematic of an arbitrary point needle tip

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Fig. 5

Inclination angle at an arbitrary point on the cutting edge of the needle tip

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Fig. 6

Velocity rake angle at an arbitrary point

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Fig. 7

Normal rake angle at an arbitrary point

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Fig. 8

Effective rake angle at an arbitrary point

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Fig. 9

Schematic of a helical point needle tip

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Fig. 10

Distribution of the (a) inclination, (b) velocity rake angle, (c) normal rake angle, and (d) effective rake angle for the helical point needle tip (generator is a straight line) along its cutting edge

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Fig. 11

Distribution of the (a) inclination, (b) velocity rake angle, (c) normal rake angle, and (d) effective rake angle for the flat point needle tip

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Fig. 12

Comparison of the analytically derived distributions of the inclination angle (a) and velocity rake angles (b) for a flat point needle tip

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Fig. 13

Schematic of a cylindrical point needle tip

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Fig. 14

Distribution of the (a) inclination, (b) velocity rake angle, (c) normal rake angle, and (d) effective rake angle for the cylindrical point needle tip

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Fig. 15

unigraphics solid model of the planar point needle tip

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Fig. 16

Comparison of velocity rake angles for flat point needle tip computed from (a) analytical model, (b) unigraphics estimate

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Fig. 17

unigraphics solid model of the cylindrical point needle tip

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Fig. 18

Comparison of rake angles for the cylindrical point needle tip computed from (a) analytical model, (b) proengineer estimate, and (c) unigraphics estimate

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