A biplanar fluoroscopic approach for the measurement, modeling, and simulation of needle and soft-tissue interaction
A biplanar fluoroscopic approach for the measurement, modeling, and simulation of needle and soft-tissue interaction
复制标题
DOI：
10.1016/j.media.2006.09.005
复制
发表时间：
2007-02-01
影响因子：
10.9
通讯作者：
Desai, Jaydev P.
中科院分区：
文献类型：
--
作者：
Hing, James T.;Brooks, Ari D.;Desai, Jaydev P.
提出了一种用于在针插入期间对针和软组织相互作用进行建模的方法。该方法包括使用双C形臂荧光透视系统测量针和组织运动。我们的双Garm透视设置允许在针插入期间对软组织中植入基准点的位移进行真实的实时3-D提取，以获得针和软组织相互作用的准确建模所需的参数。在以1.016 mm/s、12.7 mm/s和25.4 mm/s的速度插入和拔出针的过程中，跟踪组织中的针和植入标记。图像和力数据都用于确定重要参数，例如近似切割力、穿刺力、穿刺期间的局部有效模量（LEM）和组织松弛。我们还验证了LEM计算从我们的有限元模型与任意针穿刺任务。基于这些测量结果，我们开发了一种用于针插入和拔出的模型，该模型可用于生成操作触觉设备的用户可以体验到的1-DOF力与位置曲线。该配置文件是在我们实验室设计的7-DOF触觉设备上实现的。(C)2006 Elsevier B. V.保留所有权利。
A methodology for modeling the needle and soft-tissue interaction during needle insertion is presented. The approach consists of the measurement of needle and tissue motion using a dual C-arm fluoroscopy system. Our dual Garm fluoroscopy setup allows real time 3-D extraction of the displacement of implanted fiducials in the soft tissue during needle insertion to obtain the necessary parameters for accurate modeling of needle and soft-tissue interactions. The needle and implanted markers in the tissue are tracked during the insertion and withdrawal of the needle at speeds of 1.016 mm/s, 12.7 mm/s and 25.4 mm/s. Both image and force data are utilized to determine important parameters such as the approximate cutting force, puncture force, the local effective modulus (LEM) during puncture, and the relaxation of tissue. We have also validated the LEM computed from our finite element model with arbitrary needle puncture tasks. Based on these measurements, we developed a model for needle insertion and withdrawal that can be used to generate a 1-DOF force versus position profile that can be experienced by a user operating a haptic device. This profile was implemented on a 7-DOf haptic device designed in our laboratory. (C) 2006 Elsevier B.V. All rights reserved.