用于机器人辅助穿刺手术进针策略研究的猪肝进针力建模

Modeling of needle insertion force in porcine livers for studying needle insertion strategies of robot-assisted percutaneous surgery

为研究机器人辅助肝脏穿刺手术中的进针策略以确保手术安全，基于实验数据建立了猪肝的进针力模型。方法如下：在2个新鲜离体猪肝3个不同区域内共采集了18条进针力曲线数据，根据针尖位置及进针力特征将力曲线划分为“被膜刺破前”、“进入肝脏前”和“进入肝脏后”3个阶段，然后采用已有的力模型分别进行每一阶段的进针力建模，通过对比各阶段的建模效果，确定最优的各阶段进针力模型，最后组合成完整的进针力模型。最终的进针力模型比较表明，相同个体不同区域的力模型差异较小，可以用一个力模型来表示该个体进针力特征，不同个体的进针力特征能否用一个力模型表示还需进一步验证。猪肝进针力模型的建立，可为实现机器人辅助人体肝脏穿刺手术中的进针控制和手术安全提供重要依据。

The models of needle insertion force in porcine livers were established for making needle insertion strategies and ensuring surgical safety for robot-assisted percutaneous liver surgery based on 18 sets of needle insertion force data collected from three different regions of two fresh porcine livers in vitro. The force curves were divided into three stages according to needle tip position and force characteristics. Each stage model was selected from the optimal one of those existing force models according to their effects, and the complete model was composed of each stage model. The comparison of complete force models shows the needle insertion force from different regions of the same liver can be expressed by the same force model. However, it needs further verification whether the needle insertion force from different livers can be expressed by the same model. The established models of needle insertion force in porcine livers can provide important basis for needle insertion control and surgical safety for robot-assisted percutaneous surgery of human liver.