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A force-deflection model of needle penetration is proposed and evaluated experimentally. The force at the fixed end of the needle and the needle deflection were measured using a force sensor and a bi-plane X-ray imaging system, and the model was evaluated with the data. We define a physical quantity 驴, which we call infinitesimal force per length, analogous to traction (force per surface area). The model predicts 驴 to be constant over the length of the inserted portion of the needle. However the results indicate that this assumption does not fully account for the real deflection. It is strongly suggested that there is an additional degree of freedom: a moment or a rotational force acting on the needle.

A Model for Relations Between Needle Deflection, Force, and Thickness on Needle Penetration