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相关实验视频

Updated: Apr 2, 2026

Three-Dimensional Ultrasonic Needle Tip Tracking with a Fiber-Optic Ultrasound Receiver
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基于FBG的形状感应,以实现自动针插入的侧向偏移方法.

Dimitri A Lezcano1, Iulian I Iordachita1, Jin Seob Kim1

  • 1Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA.

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems
|January 9, 2025
PubMed
概括
此摘要是机器生成的。

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这项研究通过扩展形状感应模型来管理针曲线,提高了前列腺癌手术中针插入的控制. 这提高了外科手术的精度,并减少了干预期间的组织损伤.

科学领域:

  • 机器人和控制系统 机器人和控制系统
  • 医疗器械技术 医疗器械技术
  • 手术导航 手术导航

背景情况:

  • 由于不对称的负载,头针自然会曲,使得可以进行可控的插入,以精确地进行手术.
  • 针头插入的自主控制旨在最大限度地减少组织损伤,并改善前列腺癌诊断和治疗等程序中的患者结果.
  • 实时,手术内形状感应反对于在针插入干预中实现自主控制方法至关重要.

研究的目的:

  • 扩展李组理论形状感应模型,以准确追踪手术插入期间针头侧向偏移的情况.
  • 为了验证增强的形状感应模型,使用机器人针插入幻影组织,以立体视觉作为基本真相.
  • 实施和评估一个实时形状感应系统,用于自主控制针插入.

主要方法:

  • 开发一个扩展的李群理论模型,以解释侧向针曲.
  • 使用机器人针插入实验在幻影组织中的验证.
  • 用于地面真相数据采集的立体视觉系统.
  • 使用ROS 2实现实时形状感应系统.

主要成果:

  • 扩展的形状感应模型在插入时成功处理了针头侧向偏移.
  • 机器人插入幻影组织证明了该模型的有效性.
关键词:
自主注射针插入方式纤维布拉格格子 (FBG) 的使用灵活的针头灵活的针头多核纤维纤维是一种多核纤维.针可以感知形状.实时实时的时间.

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  • 实时系统的平均反频率为15±8Hz.
  • 平均针形状误差低于1毫米,证实了模型的准确性.

    • 结论:

    • 扩展的形状感应模型准确地跟踪针曲,使手术干预的控制能力提高.
    • 实时形状感应反对于自主针插入系统是可行的和有效的.
    • 这一进步有潜力提高精度,并减少需要精确的针位置的程序的侵入性.