Force modeling for needle insertion into soft tissue
Force modeling for needle insertion into soft tissue
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DOI：
10.1109/tbme.2004.831542
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发表时间：
2004-10-01
影响因子：
4.6
通讯作者：
O'Leary, MD
中科院分区：
文献类型：
--
作者：
Okamura, AM;Simone, C;O'Leary, MD
针插入软组织期间的力建模对于准确的手术模拟、术前规划和经皮治疗的智能机器人辅助非常重要。我们提出了针插入的力模型和从离体组织获取数据以填充该模型的实验程序。使用配备有测力传感器和针附件的单自由度机器人从牛肝脏收集数据。计算机断层摄影成像用于将针插入过程分割成识别针和组织之间的不同相对速度的阶段。测量数据并将其建模为三个部分：1）胶囊刚度，非线性弹簧模型; 2）摩擦，改良的Karnopp模型;以及3）切割，给定组织的常数。此外，我们使用硅橡胶体模表征了针直径和尖端类型对插入力的影响。与三角形和菱形尖端相比，斜面尖端导致更多的针弯曲，更容易受到组织密度变化的影响。由于切割力和摩擦力增加，直径较大的针的力更高。
The modeling of forces during needle insertion into soft tissue is important for accurate surgical simulation, preoperative planning, and intelligent robotic assistance for percutaneous therapies. We present a force model for needle insertion and experimental procedures for acquiring data from ex vivo tissue to populate that model. Data were collected from bovine livers using a one-degree-of-freedom robot equipped with a load ' cell and needle attachment. computed tomography imaging was used to segment the needle insertion process into phases identifying different relative velocities between the needle and tissue. The data were measured and modeled in three parts: 1) capsule stiffness, a nonlinear spring model; 2) friction, a modified Karnopp model; and 3) cutting, a constant for a given tissue. In addition, we characterized the effects of needle diameter and tip type on insertion force using a silicone rubber phantom. In comparison to, triangular and diamond tips, a bevel tip causes more needle bending and is more easily affected by tissue density variations. Forces for larger diameter needles are higher due to increased cutting and friction forces.