Modeling and Simulation of Flexible Needle Insertion Into Soft Tissue Using Modified Local Constraints
Modeling and Simulation of Flexible Needle Insertion Into Soft Tissue Using Modified Local Constraints
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DOI：
10.1115/1.4034134
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发表时间：
2016-12-01
影响因子：
4
通讯作者：
Yao, Bin
中科院分区：
文献类型：
--
作者：
Gao, Dedong;Lei, Yong;Yao, Bin
针插入是在各种微创手术中广泛使用的医疗程序。在针插入过程中，对耦合的针偏转和组织变形的估计对于手术的成功至关重要。在这项工作中，一个新的针偏转组织变形耦合模型，提出了柔性针插入到软组织。基于针头偏转与插入长度相比较小的假设，基于改进的局部约束方法开发了针头-组织相互作用模型，其中通过整合针头力和组织力关系来平衡针头与组织之间的相互作用力。构建了一个实验平台，并设计了实验来验证所提出的方法使用人工体模与标记。在实验分析的基础上，将切削力和摩擦力从力-时间曲线中分离出来，作为模型的输入。通过CCD摄像机记录软组织内标记物的轨迹，以与模拟轨迹进行比较。实验和仿真轨迹之间的误差小于0.8 mm。结果表明，所提出的方法是有效的针插入过程建模。
Needle insertion is a widely used medical procedure in various minimally invasive surgeries. The estimation of the coupled needle deflection and tissue deformation during the needle insertion procedure is crucial to the success of the surgery. In this work, a novel needle deflection-tissue deformation coupling model is proposed for flexible needle insertion into soft tissue. Based on the assumption that the needle deflection is small comparing to the length of the insertion, the needle-tissue interaction model is developed based on the modified local constraint method, where the interactive forces between the needle and the tissue are balanced through integration of needle-force and tissue-force relationships. A testbed is constructed and the experiments are designed to validate the proposed method using artificial phantom with markers. Based on the experimental analysis, the cutting and friction forces are separated from the force-time curves and used as the inputs into the proposed model. The trajectories of the markers inside the soft tissue are recorded by a CCD camera to compare with the simulation trajectories. The errors between the experimental and simulation trajectories are less than 0.8 mm. The results demonstrate that the proposed method is effective to model the needle insertion procedure.