中文摘要：

通过针穿刺软组织实验,得出针穿刺软组织过程中穿刺力随位移变化的数据。在分析穿刺力与位移之间关系的基础上,选取非线性弹簧模型和二阶多项式模型对穿刺力进行最小二乘法拟合,得到穿刺力的力学模型。

英文摘要：

In the experiment of needle insertion into soft tissue,the insertion forces vs displacement is obtained. Based on the analysis of the relationship between needle insertion forces and displacement,a combination of the nonlinear spring model and the second-order polynomial is exploited to model the insertion force with the least squares method.