Event classification in percutaneous treatments based on needle insertion force pattern analysis
Event classification in percutaneous treatments based on needle insertion force pattern analysis
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DOI：
10.1109/iccas.2013.6703910
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发表时间：
2013-10
期刊：
影响因子：
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通讯作者：
I. Elgezua;Sangha Song;Yo Kobayashi;M. Fujie
中科院分区：
文献类型：
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作者：
I. Elgezua;Sangha Song;Yo Kobayashi;M. Fujie
经皮治疗正在成为一种常见的癌症微创治疗方法。外科医生必须将针插入癌变部位进行活组织检查或杀死癌细胞，但这是一个复杂的过程，往往无法达到目标。新的机器人设备，以协助经皮治疗正在开发。大多数系统使用术前FEM模拟来计算将击中目标的针头轨迹，或美国图像针头制导。然而，两者都不完全令人满意。理想情况下，实时模拟器应该用于术中机器人的控制，但是，它们缺乏准确性。我们提出了一种新的方法，以提供有关当前情况的信息，在针插入力模式识别针插入。这些信息可以作为模拟器或机器人控制的反馈，以提高它们的精度。
Percutaneous treatments are becoming a common minimally invasive treatment for cancer. Surgeons must introduce a needle into a cancerous area to perform a biopsy or kill the cancer, but this is a complex procedure that often misses the target. Novel robotic devices to assist in percutaneous treatments are being developed. Most systems use preoperative FEM simulation to calculate a needle trajectory that will hit the target, or US image needle guidance. However, neither of them are fully satisfactory. Ideally, real-time simulators should be used for intraoperative robot control, but, they lack accuracy. We propose a new method to provide information about the current situation during a needle insertion using needle insertion force pattern recognition. This information can be used as feedback for simulators or robot control in order to increase their accuracy.