Misra Sarthak, Reed Kyle B, Ramesh K T, Okamura Allison M
Department of Mechanical Engineering, The Johns Hopkins University, Baltimore, MD 21218, USA.
Annu Int Conf IEEE Eng Med Biol Soc. 2009;2009:262-5. doi: 10.1109/IEMBS.2009.5332872.
Needles with asymmetric bevel tips naturally bend when they are inserted into soft tissue. In this study, we present an analytical model for the loads developed at the bevel tip during needle-tissue interaction. The model calculates the loads based on the geometry of the bevel edge and gel material properties. The modeled transverse force developed at the tip is compared to forces measured experimentally. The analytical model explains the trends observed in the experiments. In addition to macroscopic studies, we also present microscopic observations of needle-tissue interactions. These results contribute to a mechanics-based model of robotic needle steering, extending previous work on kinematic models.
具有不对称斜面尖端的针在插入软组织时会自然弯曲。在本研究中，我们提出了一个分析模型，用于计算针与组织相互作用期间斜面尖端产生的载荷。该模型根据斜面边缘的几何形状和凝胶材料特性来计算载荷。将模型计算出的尖端横向力与实验测量的力进行比较。该分析模型解释了实验中观察到的趋势。除了宏观研究，我们还展示了针与组织相互作用的微观观察结果。这些结果有助于建立基于力学的机器人针转向模型，扩展了先前关于运动学模型的工作。
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