A Model to Predict Deflection of an Active Tendon-Driven Notched Needle Inside Soft Tissue.
A Model to Predict Deflection of an Active Tendon-Driven Notched Needle Inside Soft Tissue.
复制标题
预测软组织内活动肌腱驱动缺口针偏转的模型。
DOI：
10.1115/1.4063205
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发表时间：
2024
期刊：
影响因子：
--
通讯作者：
Konh,Bardia
中科院分区：
文献类型：
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作者：
Padasdao,Blayton;Konh,Bardia
在过去的十年里，微创手术和机器人辅助手术领域取得了重大进展。针刺是一种微创技术，在近距离治疗、消融术、给药和活检等手术中已被证明是有效的。由于复杂的针与组织的相互作用、针与组织的运动、缺乏驱动和控制、以及较差的传感和可视化，在组织内手动引导针是一项具有挑战性的任务。最近，主动肌腱驱动的切口针和机器人操作系统已被提出，以帮助外科医生引导针在所需的轨迹到目标位置。本文介绍了一种用于软组织内主动肌腱驱动缺口针转向的新挠度模型，旨在用于基于模型的机器人控制。该模型是用来预测针在单层组织中的偏转。为了验证所提出的偏转模型，进行了五组斜尖主动针插入单层幻体组织的实验。采用机器人辅助的实时超声跟踪方法对针尖进行跟踪。结果表明，该模型预测斜尖主动针插入单层幻像组织时的针挠度平均误差为0.58±0.14 mm。
The last decade has witnessed major progress in the field of minimally invasive and robotic-assisted surgeries. Needle insertion, a minimally invasive technique, has proven its efficacy in procedures such as brachytherapy, ablation, drug delivery, and biopsy. Manual needle steering inside tissue is a challenging task due to complex needle-tissue interactions, needle and tissue movement, lack of actuation and control, as well as poor sensing and visualization. Recently, active tendon-driven notched needles, and robotic manipulation systems have been proposed to assist surgeons to guide the needles in desired trajectories toward target positions. This work introduces a new deflection model for the active tendon-driven notched needle steering inside soft tissue for intention to use in model-based robotic control. The model is developed to predict needle deflection in a single-layer tissue. To validate the proposed deflection model, five sets of needle insertion experiments with a bevel-tipped active needle into single-layer phantom tissues were performed. A real-time robot-assisted ultrasound tracking method was used to track the needle tip during needle insertion. It was shown that the model predicts needle deflection with an average error of 0.58 ± 0.14 mm for the bevel-tipped active needle insertion into a single-layer phantom tissue.