Biomechanics Meets Robotics: Methods for Accurate and Fast Needle Targeting

生物力学与机器人技术的结合：准确快速的针瞄准方法

• 批准号: DP160100714
• 负责人: Prof Adam Wittek
• 金额: $ 34.7万
• 依托单位: The University of Western Australia
• 依托单位国家: 澳大利亚
• 项目类别: Discovery Projects
• 财政年份: 2016
• 资助国家: 澳大利亚
• 起止时间: 2016-01-01 至 2022-03-31
• 项目状态: 已结题
• 来源: https://dataportal.arc.gov.au/RGS/Web/Grants/DP160100714
• 关键词: Biomechanics; Meets; Robotics; Methods; Accurate

This project intends to create a novel integrated framework for biomedical systems that can accurately target a needle. Accurate surgical targeting means less trauma and better patient outcomes. Needles are used in over half of all surgical procedures, but up to 38 per cent of these are affected by targeting errors. Achieving sub-millimetre accuracy is extremely difficult because inserting a needle displaces the tissue and moves the target. How, then, can ultra-fine targeting be achieved? This project plans to integrate non-linear biomechanical models that predict tissue motion with accurate and principled motion control. It seeks to create new methods for surgical robots that will predict target motion and guide a needle to accurately intersect the target.

该项目旨在为生物医学系统创建一个新的集成框架，可以准确地瞄准针头。精确的手术定位意味着更少的创伤和更好的患者结果。一半以上的外科手术都使用针头，但其中高达38%的手术受到瞄准错误的影响。实现亚毫米精度是极其困难的，因为插入针头会移动组织并移动目标。那么，如何才能实现超精细的目标呢？该项目计划将预测组织运动的非线性生物力学模型与准确和有原则的运动控制相结合。它旨在为手术机器人创造新的方法，预测目标运动并引导针准确地与目标相交。