Repeatability assessment and sensitivity analysis of needle insertion physical experiment

Needle insertion physical experiments are used as the ground truth for model validation and parameter estimation by measuring the needle defection and tissue deformation during the needle-tissue interactions. Hence parameter uncertainties can contribute experiment errors. To improve the repeatability and accuracy of such experiments, one-at-a-time(OAT) sensitivity analysis is used to study the impacts of the factors, such as stirring temperature, frozen time, thawing time during the process of making hydrogels as well as repeated path insertion and different puncture plane in the planer needle insertion experiments. The results show that the puncture plane has the greatest effect on the repeatability of needle insertion physic experiments, followed by repeated path insertion, while other factors have the least effect. The results serve to guide future experiment design for greater repeatability and accuracy.