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Table 1 Factors and range of values in the soft tissue deformation experiment

From: Soft Tissue Deformation Modeling in the Procedure of Needle Insertion: A Kriging-Based Method

Factor

Range

Minimum value \({x}_{L}\)

Maximum value \({x}_{U}\)

Young’s modulus of the tissue x1 (kPa)

10

50

Soft-tissue Poisson ratio x2

0.3

0.5

Tip angle x3 (°)

0

90

Needle penetration angle x4 (°)

− 15

15

Needle radius x5 (mm)

0.2

0.6

Needle length x6 (mm)

100

250

Young's modulus of the needle x7 (GPa)

200

300

Rayleigh coefficient of damping x8

0.01

0.1

Rayleigh coefficient of damping x9

0.01

0.1

Coefficient of friction x10 (N/m)

30

50

Area density x11 (kg/m2)

20

30