Yan-Jiang Zhao , Ye-Xin Jin , Chao Wen , Yong-De Zhang , He Zhang
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引用次数: 0
摘要
经皮插入是最常见的微创手术之一。与传统的直线刚性针相比,斜面柔性针可以产生弯曲轨迹,避开障碍物和敏感器官。然而,非线性大挠度问题对针的弯曲预测提出了挑战,极大地影响了手术成功率。本文分析了针与组织相互作用的机理,建立了基于力学的针在插入过程中的弯曲模型。然后,对弯曲模型进行离散化处理,以准确预测针在软组织中的大弯曲。插入实验验证了弯曲预测模型。结果表明,针头大弯曲预测的平均/均方根误差/最大u误差分别为 0.42 mm / 0.26 mm / 1.08 mm,临床上可以接受。这证明了所提模型的合理性和准确性。
A mechanics-based model for predicting flexible needle bending with large curvature in soft tissue
Percutaneous insertion is one of the most common minimally invasive procedures. Compared with traditional straight rigid needles, bevel-tipped flexible needle can generate curved trajectories to avoid obstacles and sensitive organs. However, the nonlinear large deflection problem challenges the bending prediction of the needle, which dramatically influences the surgical success rate. This paper analyzed the mechanism of needle-tissue interaction, and established a mechanics-based model of the needle bending during an insertion. And then, a discretization of the bending model was adopted to accurately predict the large bending of the needle in soft tissue. Insertion experiments were conducted to validate the bending prediction model. The results showed that the large needle bending was predicted with the mean/RMSE/maximumu error of 0.42 mm / 0.26 mm / 1.08 mm, which was clinically acceptable. This proved the rationality and accuracy of the proposed model.
期刊介绍:
Medical Engineering & Physics provides a forum for the publication of the latest developments in biomedical engineering, and reflects the essential multidisciplinary nature of the subject. The journal publishes in-depth critical reviews, scientific papers and technical notes. Our focus encompasses the application of the basic principles of physics and engineering to the development of medical devices and technology, with the ultimate aim of producing improvements in the quality of health care.Topics covered include biomechanics, biomaterials, mechanobiology, rehabilitation engineering, biomedical signal processing and medical device development. Medical Engineering & Physics aims to keep both engineers and clinicians abreast of the latest applications of technology to health care.