Influence of needling conditions on the corneal insertion force.

Needle insertion plays an important part in the process of corneal graft surgery. In this paper, a three-dimensional symmetry model of the human cornea is constructed using the finite element method. Simplification of specific optic physiology is defined for the model: The cornea constrained by the sclera is presented as two layers consisting of epithelium and stroma. A failure criterion based on the distortion energy theory has been proposed to predict the insertion process of the needle. The simulation results show a good agreement with the experimental data reported in the literature. The influence of needling conditions (e.g. insertion velocity, rotation parameters and vibration parameters) on the insertion force are then discussed. In addition, a multi-objective optimization based on particle swarm optimization (PSO) is applied to reduce the insertion force. The numerical results provide guidelines for selecting the motion parameters of the needle and a potential basis for further developments in robot-assisted surgery.