用于组织导向的预弯针的特性分析

Characterization of pre-curved needles for steering in tissue.

作者信息

Wedlick Thomas R, Okamura Allison M

机构信息

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

出版信息

Annu Int Conf IEEE Eng Med Biol Soc. 2009;2009:1200-3. doi: 10.1109/IEMBS.2009.5333407.

DOI:10.1109/IEMBS.2009.5333407

PMID:19963994

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC2860535/

Abstract

Needles with tip asymmetry deflect upon insertion into soft tissue, an effect that can be used to steer needles within the body. This paper presents a phenomenological characterization of the steering behavior of pre-curved needles, which have tip asymmetry due to curvature of the needle near the tip. We describe needle construction methods and a needle shaft triangulation algorithm to compute the shape of the needle based on images. Experimental results show that pre-curved needles possess greater dexterity than bevel-tipped needles and achieve radii of curvature similar to pre-bent needles. For long pre-curve arc lengths, the radius of curvature of the needle was found to approach the radius of curvature of the pre-curve. Pre-curved needles were found to display behaviors not seen with bevel-tipped needles, such as the insertion velocity influencing the path of the tip within the tissue and the ability to plastically deform the needle during steering.

摘要

针尖不对称的针在插入软组织时会发生偏转，这种效应可用于在体内引导针。本文对预弯曲针的引导行为进行了现象学表征，预弯曲针由于针尖附近针的弯曲而具有针尖不对称性。我们描述了针的构造方法和一种针杆三角测量算法，用于根据图像计算针的形状。实验结果表明，预弯曲针比斜面尖端针具有更高的灵活性，并且实现了与预弯针相似的曲率半径。对于长的预弯曲弧长，发现针的曲率半径接近预弯曲的曲率半径。还发现预弯曲针表现出斜面尖端针所没有的行为，例如插入速度会影响针尖在组织内的路径，以及在引导过程中针发生塑性变形的能力。