Developing a method to plan robotic straight needle insertion using a probability-based assessment of puncture occurrence
Developing a method to plan robotic straight needle insertion using a probability-based assessment of puncture occurrence
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开发一种使用基于概率的穿刺发生评估来规划机器人直针插入的方法
DOI：
10.1080/01691864.2013.756385
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发表时间：
2013
影响因子：
2
通讯作者：
Yo Kobayashi
中科院分区：
文献类型：
--
作者：
Yo Kobayashi;Ryutaro Hamano;Jaesung Hong;Hiroki Watanabe;Kazutaka Toyoda;Makoto Hashizume;Masakatsu G. Fujie;Yo Kobayashi
以针头为基础的癌症治疗需要将针尖准确地放置到目标组织中。然而，由于器官变形导致的癌症移位，往往很难准确地插入针头。因此，开发一种基于数值模拟分析器官变形的规划方法对于准确的针头插入非常重要。然而，由于实验数据的显著差异，预测刺穿条件，包括施加在针上的力并不是微不足道的。这项研究的目的是开发一种新的方法来预测具有不同穿刺点的直针插入的稳健路径。该方法基于各种穿孔条件的概率，并评估预期的针放置精度。首先，建立了一个基于概率的穿刺点条件，并定义了期望的针头放置精度。我们还使用猪的肝脏进行了玻璃针插入实验。观察到穿刺力的显著变化。据此，我们建立了穿刺所引起的组织应力的概率分布。利用优化后的路径进行了体外实验，以测量针的放置精度。实验结果表明，该方法的平均精度为1.5 mm。
Needle-based treatments for cancer require accurate placement of the needle tip into the target tissue. However, it is often difficult to insert a needle accurately because of the cancer displacement caused by organ deformation. Therefore, developing a planning method based on a numerical simulation that analyzes organ deformation is important for accurate needle insertion. However, predicting the puncture conditions, including the force applied to the needle is not trivial owing to marked variations in the experimental data. The purpose of this research is to develop a novel method for predicting a robust path for straight needle insertion with various puncture points. The method is based on the probabilities of the various puncture conditions and evaluates the expected accuracy of needle placement. First, a probability-based puncture condition was established and the expected accuracy of needle placement was defined. We also performedin vitroneedle insertion experiments using a porcine liver. Significant variations in puncture force were observed. Accordingly, we established a probability distribution for the tissue stress caused by the puncture. Anin vitroexperiment was performed to measure needle placement accuracy using the optimized path. Experimental results show that the proposed method achieves a mean accuracy of 1.5 mm.