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规划非线性轨迹的无触摸热除使用被动可导针与控制硬度和PSAM的PSAM

Antoine Morin¹, Juan Manuel Verde^1,2, Lennart Rubbert^1,3

¹ICube University of Strasbourg Strasbourg France.

Healthcare technology letters

|November 21, 2025

概括

这项研究引入了一种新的规划方法 (PSAM),用于使用被动方向针进行穿皮热切除. 该PSAM方法优化了针的轨迹,提高了最小侵入性手术的安全性和效率.

科学领域:

医疗工程医疗工程
机器人技术机器人技术机器人技术
图像指导疗法是指导图像的疗法.

背景情况:

穿皮热移除提供了最少的侵入性治疗,但在规划方面面临着挑战.
手动规划是耗时的,通常依赖于用于刚性或主动方向针的工具,而不是被动的方向针.
从单个插入中实现多次切除需要精确的轨迹规划.

研究的目的:

引入和评估通过皮肤进行热除的被动转向除计划方法 (PSAM).
为了优化被动可导针的轨迹,确保安全并最大限度地减少健康组织的切除.
为了证明"无触摸"的热除方法的可行性,用单针插入.

主要方法:

开发了PSAM,这是一个带有内存的增强粒子群优化算法.
集成的PSAM与被动可转向的ARC针.
将PSAM规划与蒙特卡洛模拟和使用刚性针的手动手术规划进行比较.

主要成果:

PSAM成功计算了ARC针的最佳轨迹.
通过PSAM的方法,证明了"无触摸"热除的潜力.
评估表明PSAM方法的有效性与现有方法相比.

结论:

这种PSAM方法在规划皮肤穿热移除程序方面显示出显著的前景.
与PSAM规划相结合的ARC针可使多次切除更安全,更有效.
这种方法有可能减少手术风险并改善患者的治疗结果.

关键词:

决策支持系统决策支持系统针头,针头,针头的使用方法.优化优化优化优化手术手术手术手术手术手术手术

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