Realistic simulation of tool-tissue interactions is necessary for the development of surgical simulators and one of the key element for it realism is accurate bio-mechanical tissue models. The main goal of this project is to determined the mechanical properties of soft tissue by minimizing the difference between experimental measurements and analytical or simulated solutions of the deformation. Using this technique, we were previously able to demonstrate that on can estimates accurately the material property that best fit the experimental data compared to a simulated compression and a needle indentation with a flat-tip. We were also validated our results using multiple tool-tissue interactions over the same specimen. In the new project, we would like to develop a new tool that can infer material properties of in-vivo tissues by manipulation with an instrumented endoscope.

Testing aparatus with force/torque sensor and 3D tracker	Testing cube with 3D targets
Needle Insertion Point	FEM Simulation