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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >A Two-Body Rigid/Flexible Model of Needle Steering Dynamics in Soft Tissue
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A Two-Body Rigid/Flexible Model of Needle Steering Dynamics in Soft Tissue

机译：软组织中针转向动力学的两体刚性/柔性模型

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摘要

Robotics-assisted needle steering can enhance targeting accuracy in percutaneous interventions. This paper presents a novel dynamical model for robotically controlled needle steering. This is the first model that predicts both needle shape and tip position in soft tissue, and accepts needle insertion velocity, needle 180° axial rotation, and needle base force/torque as inputs. A hybrid formulation of needle steering dynamics in soft tissue is presented, which considers the needle as a two-body rigid/flexible coupled system composed of a moving, discrete, and rigid part attached to a vibrating compliant part that is subject to external excitation forces. The former is the carrier representing the surgeon's hand or the needle inserting robot, while the latter is a beam modeling the continuous deflection of the needle inside tissue. A novel time-delayed tissue model and a fracture mechanics-based model are developed to model the tissue reaction forces and cutting force at the needle tip, respectively. Experiments are performed on synthetic and ex vivo animal tissues to identify the model parameters and validate the needle steering model. The maximum error of the 2-D model in predicting the needle tip position in the insertion plane was 1.59 mm in the case of no axial rotation and 0.74 mm with axial rotation.
机译：机器人辅助的针头操纵可以提高经皮干预的瞄准精度。本文提出了一种用于机器人控制的针头转向的新型动力学模型。这是第一个预测软组织中的针头形状和尖端位置的模型，并且接受针头插入速度，针头180°轴向旋转以及针头基本力/扭矩作为输入。提出了软组织中针头转向动力学的混合公式，该公式将针头视为由刚性，柔性和刚性两部分组成的两体系统，该系统由运动的，离散的和刚性的部分组成，该部分连接到受外部激励力作用的振动顺应部分。前者是代表外科医生的手或针头插入机器人的载体，而后者是模拟针头在组织内部连续偏转的光束。建立了新颖的延时组织模型和基于断裂力学的模型，分别模拟了针尖处的组织反作用力和切削力。在合成和离体动物组织上进行实验以识别模型参数并验证针头转向模型。在没有轴向旋转的情况下，二维模型在预测插入平面中的针尖位置方面的最大误差为1.59 mm，在没有轴向旋转的情况下为0.74 mm。

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