Sharif Digital Repository

In recent years, there hass been a pronounced emphasis on percutaneous needle steering with the aid of advanced soft tissue modeling techniques. In this work an optical flow based motion estimation method is used to estimate the force applied to the needle by the soft tissue during percutaneous applications. The study considers Finite Element Model (FEM) of the tissue evaluated by the deformation data acquired through the optical flow method. To represent the soft tissue behavior, dynamic FEM with Rayleigh damping and viscoelastic models are used. The method is validated experimentally through offline evaluation of the ultrasonic images of the chicken breast punctured by a needle. The force...