脊柱注射过程中的柔性弯针模型

IF 4.6 2区计算机科学 Q2 ROBOTICS

IEEE Robotics and Automation Letters Pub Date : 2023-01-23 DOI:10.1109/LRA.2023.3239310

Yanzhou Wang;Ka-Wai Kwok;Kevin Cleary;Russell H. Taylor;Iulian Iordachita

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引用次数: 2

摘要

医生在进行脊椎注射时使用的原位针头操作技术被建模，以研究其对针头形状和针尖位置的影响。提出了一种基于力学的模型，并用有限元方法求解。介绍了一种模拟针头操纵运动的测试装置。由塑料溶胶制成的组织模型以及猪骨骼肌样本用于评估模型相对于医学图像的准确性。研究了不同压缩模型以及模型参数对模型精度的影响，并考察了针-组织相互作用对针远端运动中心的影响。通过正确组合压缩模型和模型参数，模型模拟能够在亚毫米精度内预测针尖位置。

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Flexible Needle Bending Model for Spinal Injection Procedures

An in situ needle manipulation technique used by physicians when performing spinal injections is modeled to study its effect on needle shape and needle tip position. A mechanics-based model is proposed and solved using finite element method. A test setup is presented to mimic the needle manipulation motion. Tissue phantoms made from plastisol as well as porcine skeletal muscle samples are used to evaluate the model accuracy against medical images. The effect of different compression models as well as model parameters on model accuracy is studied, and the effect of needle-tissue interaction on the needle remote center of motion is examined. With the correct combination of compression model and model parameters, the model simulation is able to predict needle tip position within submillimeter accuracy.

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来源期刊

IEEE Robotics and Automation Letters Computer Science-Computer Science Applications

CiteScore

9.60

自引率

15.40%

发文量

1428

期刊介绍： The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.