用于脊柱注射手术的柔性针弯曲模型。
Flexible Needle Bending Model for Spinal Injection Procedures.
作者信息
Wang Yanzhou, Kwok Ka-Wai, Cleary Kevin, Taylor Russell H, Iordachita Iulian
机构信息
Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, Maryland, USA.
Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China.
出版信息
IEEE Robot Autom Lett. 2023 Mar;8(3):1343-1350. doi: 10.1109/lra.2023.3239310. Epub 2023 Jan 23.
An needle manipulation technique used by physicians when performing spinal injections is modeled to study its effect on needle shape and needle tip position. A mechanics-based model is proposed and solved using finite element method. A test setup is presented to mimic the needle manipulation motion. Tissue phantoms made from plastisol as well as porcine skeletal muscle samples are used to evaluate the model accuracy against medical images. The effect of different compression models as well as model parameters on model accuracy is studied, and the effect of needle-tissue interaction on the needle remote center of motion is examined. With the correct combination of compression model and model parameters, the model simulation is able to predict needle tip position within submillimeter accuracy.
医生在进行脊柱注射时使用的一种针操作技术被建模，以研究其对针形状和针尖位置的影响。提出了一个基于力学的模型，并使用有限元方法求解。提出了一种测试装置来模拟针的操作运动。由增塑溶胶制成的组织模型以及猪骨骼肌样本被用于根据医学图像评估模型的准确性。研究了不同压缩模型以及模型参数对模型准确性的影响，并考察了针与组织相互作用对针远程运动中心的影响。通过压缩模型和模型参数的正确组合，模型模拟能够以亚毫米精度预测针尖位置。
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