Biomechanical Modeling for Steerable Needles

描述（由申请人提供）： 这项工作的长期目标是利用斜面针尖弯曲的影响，为经皮治疗提供准确、灵巧的靶向。针和组织建模的新成果，结合机器人运动建模，将促进新的模型，硬件，控制和规划技术，用于在软组织内操纵柔性针。使用机器人领域的路径规划，控制和运动学结果，我们计划证明适当设计的针可以通过组织到达指定的3-D目标。更令人信服的是，我们提出的方法将允许将针头引导到身体中以前无法到达的位置，从而实现新的微创手术。 针控制的第一步是获得精确的模型。因此，该探索性/开发性应用程序的具体目标是了解和建模针运动的生物力学。这是一项高风险活动，因为之前没有成功模拟柔性针穿过软组织的3D路径的工作。这项工作具有很高的影响力，因为准确的3D针头建模可用于（1）改善靶向，从而提高许多经皮治疗和诊断方法的性能，（2）规划绕过障碍物的针头路径，以及（3）开发逼真的模拟器用于医生培训和患者特定计划。研究人员将与医生合作者密切合作，研究与提高医疗保健质量相关的针头插入情况。 具体目标如下：（1）建立并验证无变形组织中进针的确定性生物力学模型。针头的弯曲将是组织特性、针头特性和输入参数的函数。在体模组织上优化并测试模型。选择便于操纵的针头设计参数。(2)进一步完善目标1的模型，以包括约束和输入不确定性的影响，生成针插入通过未变形组织的随机生物力学模型。针对给定的一组输入计算可能的针尖位置的空间，并确定获取特定目标的概率。(3)进一步完善目标1和2的模型，以包括组织变形和不均匀组织特性的影响。一个特别的挑战是开发新的建模技术，同时处理针和组织变形。

DESCRIPTION (provided by applicant): The long term goal of this work is to harness the effect of bevel tip needle bending to provide accurate, dexterous targeting for percutaneous therapies. New results in needle and tissue modeling, combined with robot motion modeling, will facilitate new models, hardware, control, and planning techniques for steering flexible needles inside soft tissue. Using path planning, control, and kinematics results from the field of robotics, we plan to demonstrate that an appropriately designed needle can be steered through tissue to reach a specified 3-D target. Even more compelling is that the methods we propose will allow needles to be steered to previously inaccessible locations in the body, enabling new minimally invasive procedures. The first step in needle control is to obtain an accurate model. Thus, the specific goals of this exploratory/developmental application are to under stand and model the biomechanics of needle motion. This is a high-risk activity because there has been no previous work to successfully model the 3-D path of flexible needles through soft tissue. The work is high impact because accurate 3-D needle modeling can be used to (1) improve targeting, thus enhancing the performance of many percutaneous therapies and diagnostic methods, (2) plan needle paths that steer around obstacles, and (3) develop realistic simulators for physician training and patient-specific planning. Working closely with physician collaborators, the investigators will study needle insertion scenarios that are relevant to improving the quality of health care. The specific aims are as follows: (1) Develop and validate a deterministic biomechanical model of needle insertion through un deformed tissue. The bending of the need le tip will be a function of tissue properties, needle properties and input parameters. Refine and test the model on phantom tissues. Select needle design parameters that facilitate steering. (2) Further refine the model of Aim 1 to include the effects of constraint and input uncertainties, generating a stochastic biomechanical model of needle insertion through undeformed tissue. Compute the space of possible needle tip positions for a given set of inputs and determine the probability of acquiring specific targets. (3) Further refine the models of Aims 1 and 2 to include the effects of both tissue deformation and inhomogeneous tissue properties. A particular challenge is the development of new modeling techniques that simultaneously handle needle and tissue deformation.