Preoperative Needle Insertion Path Planning for Minimizing Deflection in Multilayered Tissues.
Preoperative Needle Insertion Path Planning for Minimizing Deflection in Multilayered Tissues.
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DOI：
10.1109/lra.2018.2809540
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发表时间：
2018-07
影响因子：
5.2
通讯作者：
Iordachita I
中科院分区：
文献类型：
--
作者：
Tsumura R;Kim JS;Iwata H;Iordachita I
细针偏转是插入软组织期间遇到的问题。尽管轴向旋转插入是最小化该问题的有效方法，但针偏转仍然取决于相对于组织边界的插入角度。由于人体由不同形状和机械特性的多层组织组成，术前规划最佳路径是成功插入的关键因素。在本文中，我们提出了一种基于优化的术前路径规划模型，可最大限度地减少多层组织插入过程中的针偏转。该模型可以根据针穿过的每个组织边界的插入角度之和来确定最佳路径。为了提高模型的准确性，我们通过将权重因子纳入模型中，纳入了距组织边界距离的影响以及可接受偏转的概率。为了验证该模型，我们进行了涉及两层和三层组织的四种场景的实验。结果表明，所提出的模型能够确定所有场景下的最佳插入路径。
Fine needle deflection is a problem encountered during insertion into a soft tissue. Although an axial rotational insertion is an effective approach for minimizing this problem, needle deflection still depends on the insertion angle with respect to the tissue boundary. Since the human body consists of multi-layered tissues of various shapes and mechanical properties, preoperative planning of an optimal path is a key factor for achieving a successful insertion. In this paper, we propose an optimization-based preoperative path planning model that minimizes needle deflection during multi-layered tissue insertion. This model can determine the optimal path based on the sum of insertion angles with respect to each tissue boundary that the needle passes through. To increase the accuracy of the model, we incorporated the effect of distances from tissue boundaries and the probability that the deflection is acceptable by incorporating weighting factors into the model. To validate the model, we performed experiments involving four scenarios of two- and three-layered tissues. The results showed that the proposed model is capable of determining the optimal insertion path in all scenarios.