Kobayashi Yo, Sato Takahiro, Fujie Masakatsu G
Faculty of Science and Engineering, Waseda University, Japan.
Annu Int Conf IEEE Eng Med Biol Soc. 2009;2009:5274-8. doi: 10.1109/IEMBS.2009.5334078.
Needle insertion treatments require accurate placement of the needle tip into the target cancer. However, it is difficult to insert the needle into the cancer because of cancer displacement due to the organ deformation. Then, a path planning using needle insertion simulation to analyze the deformation of the organ is important for the accurate needle insertion. A frictional model for needle insertion simulation is presented in this report. In particular, we focus on a model of frictional force based on the relative velocity between the needle and liver tissue ranging from hyper slow velocity. First, in vitro experiments using hog liver were performed at several relative velocities in order to measure the velocity dependence of the frictional force. Several needle insertion experiments were performed under identical conditions in order to deal with the variance of experimental data. The 60 frictional force data were used to obtain average data at each relative velocity. Second, the model of frictional force was developed using the averages of the experimental results. This model is defined according to the relative velocity ranging from hyper slow velocity. Finally, an evaluation experiment was carried out. The data obtained by the evaluation experiment reveals that the frictional force changes according to the relative velocity between the needle and liver tissue. The experimental results support the validity of proposed model of frictional force.
针刺治疗需要将针尖精确地刺入目标癌症部位。然而，由于器官变形导致癌症移位，很难将针插入癌症部位。因此，利用针刺模拟进行路径规划以分析器官变形对于精确针刺至关重要。本报告提出了一种用于针刺模拟的摩擦模型。特别是，我们专注于基于针与肝脏组织之间超低速范围内的相对速度的摩擦力模型。首先，使用猪肝在几种相对速度下进行体外实验，以测量摩擦力的速度依赖性。为了处理实验数据的方差，在相同条件下进行了多次针刺实验。使用这60个摩擦力数据来获得每个相对速度下的平均数据。其次，利用实验结果的平均值建立了摩擦力模型。该模型是根据超低速范围内的相对速度定义的。最后，进行了评估实验。评估实验获得的数据表明，摩擦力根据针与肝脏组织之间的相对速度而变化。实验结果支持了所提出的摩擦力模型的有效性。
