前列腺高精度穿刺机理及策略研究

Research on mechanism and strategy of high accuracy puncture of prostate

针介入前列腺中,前列腺会产生漂移、变形以及针尖会产生偏转等问题。为了改善机器人操控穿刺针的定位精度,研究了振动、旋转穿刺软组织机理,建立针-前列腺相互作用力模型。利用制备的实验平台分别完成了振动穿刺和旋转穿刺效果评估实验;通过对上述实验结果的分析,提出了一种基于振动和旋转的高精度进针策略,并设计了相应的进针策略控制软件;最后,采用高精度进针策略完成了穿刺力评估实验,实验结果验证本文进针策略的有效性。

In the needle intervenes in the prostate, there are displacement and deformation of prostate, needle tip deflection and other issues. In order to improve the positioning accuracy of robot manipulation of the needle, the vibration and rotation puncture mechanism are focused in this work. The needle-tissue interaction mechanical model is also established. The evaluation experiments of vibration and rotating puncture are respectively conducted by using the constructed experimental platform. By analyzing the experimental results, a strategy of high accuracy puncture is proposed based on vibration and rotation puncture, and the corresponding control software of puncture strategy is designed. Finally, the puncture force evaluation test is implemented using high puncture strategy, and the results verify the effectiveness of the proposed method.