Centre for Advanced Mechanisms and Robotics, School of Mechanical Engineering, Tianjin University, No. 135, Yaguan Road, Jinnan District, Tianjin City, 300354, China.
Med Biol Eng Comput. 2018 Jun;56(6):931-949. doi: 10.1007/s11517-018-1825-0. Epub 2018 Apr 21.
Image-guided robot-assisted minimally invasive surgery is an important medicine procedure used for biopsy or local target therapy. In order to reach the target region not accessible using traditional techniques, long and thin flexible needles are inserted into the soft tissue which has large deformation and nonlinear characteristics. However, the detection results and therapeutic effect are directly influenced by the targeting accuracy of needle steering. For this reason, the needle-tissue interactive mechanism, path planning, and steering control are investigated in this review by searching literatures in the last 10 years, which results in a comprehensive overview of the existing techniques with the main accomplishments, limitations, and recommendations. Through comprehensive analyses, surgical simulation for insertion into multi-layer inhomogeneous tissue is verified as a primary and propositional aspect to be explored, which accurately predicts the nonlinear needle deflection and tissue deformation. Investigation of the path planning of flexible needles is recommended to an anatomical or a deformable environment which has characteristics of the tissue deformation. Nonholonomic modeling combined with duty-cycled spinning for needle steering, which tracks the tip position in real time and compensates for the deviation error, is recommended as a future research focus in the steering control in anatomical and deformable environments. Graphical abstract a Insertion force when the needle is inserted into soft tissue. b Needle deflection model when the needle is inserted into soft tissue [68]. c Path planning in anatomical environments [92]. d Duty-cycled spinning incorporated in nonholonomic needle steering [64].
图像引导机器人辅助微创手术是一种重要的医学程序，用于活检或局部靶向治疗。为了到达传统技术无法到达的目标区域，将细长的柔性针插入具有大变形和非线性特性的软组织中。然而，针的靶向准确性直接影响检测结果和治疗效果。为此，通过搜索过去 10 年的文献，对针-组织相互作用机制、路径规划和转向控制进行了研究，综述了现有技术的主要成果、局限性和建议。通过综合分析，验证了多层非均匀组织中插入的手术模拟是一个需要探索的主要和建议的方面，它可以准确预测非线性针的偏转和组织变形。建议将柔性针的路径规划研究应用于具有组织变形特征的解剖学或可变形环境中。非完整建模结合周期性旋转的针转向控制，实时跟踪针尖位置并补偿偏差误差，作为解剖学和可变形环境中转向控制的未来研究重点。
