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Estimating needle-tissue interaction forces for hollow needles using Fiber Bragg Grating Sensors

机译:使用光纤布拉格光栅传感器估算空心针的针-组织相互作用力

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摘要

Brachytherapy and neurological procedures can benefit from real-time estimation of needle-tissue interaction forces, specifically for robotic or robot-assisted procedures. Fiber Bragg Grating Sensors provide advantages of very small size and electromagnetic immunity for use in measurement of the forces directly at the needle tip. This has advantages compared to measurements at the needle shaft which require extensive models of the friction between needle and tissues with varying depth. This paper presents the measurement of tip forces for a hollow needle and compensation for bending when encountering regions of varying stiffness in phantoms with multiple layers prepared using Polydimethylsiloxane.
机译:近距离治疗和神经外科程序可以受益于针-组织相互作用力的实时估计,特别是对于机器人程序或机器人辅助程序。光纤布拉格光栅传感器具有体积小和抗电磁干扰的优点,可用于直接测量针尖上的力。与在针杆处进行测量相比具有优势,在针杆处进行测量时,需要对针与深度不同的组织之间的摩擦进行广泛的建模。本文介绍了使用聚二甲基硅氧烷制备的多层体模中遇到刚度变化的区域时,空心针的尖端力的测量和弯曲的补偿。

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  • 来源
  • 会议地点 San Francisco CA(US)
  • 作者单位

    Dept. of Instrumentation Applied Physics Indian Institute of Science, Bangalore, India - 560012,Bosch Research Technology Center - India, Robert Bosch Engineering Business Solutions Pvt. Ltd, 123 Industrial Layout, Koramangala, Bangalore, India - 560095;

    Dept. of Mechanical Engineering Indian Institute of Science, Bangalore, India - 560012;

    Dept. of Electrical Communication Engineering Indian Institute of Science, Bangalore, India - 560012,Robert Bosch Centre for Cyber Physical Systems, Indian Institute of Science, Bangalore, India - 560012;

    Dept. of Instrumentation Applied Physics Indian Institute of Science, Bangalore, India - 560012,Robert Bosch Centre for Cyber Physical Systems, Indian Institute of Science, Bangalore, India - 560012;

    Dept. of Mechanical Engineering Indian Institute of Science, Bangalore, India - 560012;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Fiber Bragg Grating sensors; Needle Tissue Interaction; Polydimethylsiloxane (PDMS) phantom;

    机译:光纤布拉格光栅传感器;针组织相互作用;聚二甲基硅氧烷(PDMS)幻影;

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