Abolhassani Niki, Patel Rajni, Moallem Mehrdad
Canadian Surgical Technologies & Advanced Robotics (CSTAR), London, Ontario, Canada.
Med Eng Phys. 2007 May;29(4):413-31. doi: 10.1016/j.medengphy.2006.07.003. Epub 2006 Aug 28.
Needle insertion in soft tissue has attracted considerable attention in recent years due to its application in minimally invasive percutaneous procedures such as biopsies and brachytherapy. This paper presents a survey of the current state of research on needle insertion in soft tissue. It examines the topic from several aspects, e.g. modeling needle insertion forces, modeling tissue deformation and needle deflection during insertion, robot-assisted needle insertion, and the effect of different trajectories on tissue deformation. All studies show that the axial force of a needle during insertion in soft tissue is the summation of different forces distributed along the needle shaft such as stiffness force, frictional force and cutting force. Some studies have modeled these forces. The force data in some procedures is used for identifying tissue layers as the needle is inserted or for path planning. Needle deflection and tissue deformation are major problems for accurate needle insertion and attempts have been made to model them. Using current models several insertion techniques have been developed which are briefly reviewed in this paper.
近年来，由于在活检和近距离放射治疗等微创经皮手术中的应用，软组织中的针插入受到了相当大的关注。本文对软组织中针插入的研究现状进行了综述。它从几个方面审视了这个主题，例如模拟针插入力、模拟插入过程中的组织变形和针的偏转、机器人辅助针插入以及不同轨迹对组织变形的影响。所有研究表明，针在软组织中插入时的轴向力是沿针杆分布的不同力的总和，如刚度力、摩擦力和切割力。一些研究对这些力进行了建模。在某些手术中，力数据用于在针插入时识别组织层或用于路径规划。针的偏转和组织变形是精确针插入的主要问题，并且已经有人尝试对它们进行建模。利用当前的模型，已经开发了几种插入技术，本文将对其进行简要综述。
