Minhas Davneet, Engh Johnathan A, Riviere Cameron N
Department of Biomedical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA.
Annu Int Conf IEEE Eng Med Biol Soc. 2009;2009:258-61. doi: 10.1109/IEMBS.2009.5334006.
A technique for steering of flexible bevel-tipped needles through tissue, providing proportional control of trajectory curvature by means of duty-cycled rotation or spinning during insertion, has been presented previously, and tested in vitro in gelatin samples. The present paper presents the results of testing under more authentic conditions. Thirty-two needle insertions were performed in cadaver brain tissue. Needle insertion was controlled interactively by the surgeon, adjusting parameters intraoperatively as needed based on fluoroscope images acquired at intervals of 1-2 cm of insertion depth. The average target acquisition error was 1.80 +/- 1.33 mm.
此前已提出一种用于引导柔性斜尖针穿过组织的技术，该技术通过在插入过程中采用占空比控制的旋转或自旋来提供对轨迹曲率的比例控制，并在体外明胶样本中进行了测试。本文介绍了在更真实条件下的测试结果。在尸体脑组织中进行了32次针插入操作。针插入由外科医生进行交互式控制，根据以1 - 2厘米插入深度间隔采集的荧光透视图像，在术中根据需要调整参数。平均目标获取误差为1.80 +/- 1.33毫米。
