A Novel Friction Coefficient Model Parameters Identification Method for Needle–Tissue Insertion Procedure

In endoscopic liver vascular insertion surgeries, during the process of angiographic operation, the success of vascular staining depends on precise needle insertion control which heavily relies on experienced surgeons. Endoscopic vascular insertion surgical navigation system shows the potential to improve position precision; however, it relies on needle–tissue interaction model and parameter identification to provide essential information for improving needle insertion accuracy, in which the friction coefficient is an important parameter but difficult to determine. In this paper, a novel needle–tissue friction coefficient identification method was proposed with unknown tissue Young’s modulus under endoscopic liver surgery scenarios. A modified friction coefficient model was proposed including the adhesion and elastic friction component to describe needle–tissue dynamic interaction process which can predict the friction coefficient more precisely. The proposed parameter estimation method based on the modified friction model can simultaneously estimate friction coefficient and Young’s modulus. The proposed method was demonstrated by the friction coefficient measurement experiment. The results showed that the friction coefficient model prediction results agreed well with expected value. The proposed method can be applied to provide essential tissue-needle interactive information to improve needle insertion precision in endoscopic liver vascular insertion surgery scenarios.