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一种基于切削力识别的方法,用于预测针插入软组织中的偏斜.

Shan Jiang1, Yihan Gao1, Zhiyong Yang1

  • 1School of Mechanical Engineering, Tianjin University, Tianjin, China.

Computer methods in biomechanics and biomedical engineering
|August 5, 2024
PubMed
概括
此摘要是机器生成的。

这项研究提出了一种新的机械模型,用于预测机器人手术期间软组织中的柔性针曲. 该模型简化了针-组织相互作用,避免了复杂的材料属性测量,以提高准确性.

关键词:
针头插入插入器活检手术是活检手术.曲估计估计的偏移.图像处理是图像处理的过程.基于机械的模型.

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 生物医学工程 生物医学工程
  • 机械工程 机械工程

背景情况:

  • 灵活针曲的准确建模对于机器人辅助的皮肤穿刺手术,如活检,至关重要.
  • 现有的模型往往需要复杂的测量组织特性 (的模量,波桑比率).

研究的目的:

  • 提出一种新的机械模型,用于预测软组织中的柔性针曲.
  • 开发一种绕过侵入性组织性质测量需求的模型.

主要方法:

  • 该模型将针头插入分为步骤,将针头视为弹支的悬臂梁.
  • 组织硬度由虚拟弹硬度系数表示,通过切削力分析确定.
  • 该模型通过在聚乙烯醇 (PVA) 凝中进行穿孔实验来验证.

主要成果:

  • 拟议的模型准确地预测了灵活的针曲.
  • 偏斜预测的平均最大误差在0.606 ± 0.167毫米到1.005 ± 0.174毫米之间.
  • 该模型成功预测了PVA凝样本中的实验结果.

结论:

  • 开发的机械模型提供了一种简化但准确的方法来预测柔性针曲.
  • 这种方法不需要复杂的组织属性测量,方便实际应用.
  • 这些发现支持开发机器人注射针系统的先进控制策略.