基于模拟的单芯光纤布拉格光栅反馈式柔性针控制用于脊柱注射
Simulation-based Flexible Needle Control with Single-core FBG Feedback for Spinal Injections.
作者信息
Wang Yanzhou, Xu Yangsheng, Kang Jiarong, Fritz Jan, 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, Johns Hopkins University, Baltimore, Maryland, USA.
出版信息
IEEE Trans Med Robot Bionics. 2024 Aug;6(3):1073-1083. doi: 10.1109/tmrb.2024.3421630. Epub 2024 Jul 2.
OBJECTIVE
We present a general framework of simultaneous needle shape reconstruction and control input generation for robot-assisted spinal injection procedures, without continuous imaging feedback.
METHODS
System input-output mapping is generated with a real-time needle-tissue interaction simulation, and single-core FBG sensor readings are used as local needle shape feedback within the same simulation framework. FBG wavelength shifts due to temperature variation is removed by exploiting redundancy in fiber arrangement.
RESULTS
Targeting experiments performed on both plastisol lumbar phantoms as well as an porcine lumbar section achieved in-plane tip errors of and , and total tip errors of and for the two testing environments.
SIGNIFICANCE
Our clinically inspired control strategy and workflow is self-contained and not dependent on the modality of imaging guidance. The generalizability of the proposed approach can be applied to other needle-based interventions where medical imaging cannot be reliably utilized as part of a closed-loop control system for needle guidance.
目的
我们提出了一个用于机器人辅助脊柱注射手术的同步针形状重建和控制输入生成的通用框架，无需连续成像反馈。
方法
通过实时针 - 组织相互作用模拟生成系统输入 - 输出映射，并在同一模拟框架内将单核光纤布拉格光栅（FBG）传感器读数用作局部针形状反馈。利用光纤排列中的冗余消除温度变化引起的FBG波长偏移。
结果
在塑料溶胶腰椎模型以及猪腰椎切片上进行的靶向实验在两种测试环境中分别实现了平面内尖端误差为[具体数值1]和[具体数值2]，以及总尖端误差为[具体数值3]和[具体数值4]。
意义
我们受临床启发的控制策略和工作流程是自成体系的，不依赖于成像引导方式。所提出方法的通用性可应用于其他基于针的干预措施，在这些措施中，医学成像不能可靠地用作针引导闭环控制系统的一部分。
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