乳腺肿瘤目标"主动"精准追踪靶向穿刺路径的机理与方法研究

项目名称： 乳腺肿瘤目标"主动"精准追踪靶向穿刺路径的机理与方法研究

项目编号： No.61305119

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 自动化技术、计算机技术

项目作者： 赵洪华

作者单位： 济南大学

项目金额： 24万元

中文摘要： 穿刺手术作为一项微创、安全、有效的治疗方法，已成为肿瘤定向穿刺活检、靶点灭活治疗的重要诊疗手段。针对目前软组织穿刺手术存在避障难、多次回撤针、靶向精度低的难题，本项目以沿直线路径穿刺为手段，以乳房软组织为原型，基于兴趣点目标形变移位操控方法，分阶段控制敏感组织远离针刺路径、目标靶点精准追踪针刺路径，最终实现乳腺肿瘤的精准靶向穿刺，深入研究软组织高仿真非线性形变模型、基于穿刺力预加载的最小化软组织形变穿刺机理与路径规划、图像引导下肿瘤目标主动追踪穿刺路径的控制策略与方法三个内容，提出基于力交互模型的软组织形变肿瘤位置预测方法、基于力预加载最小化软组织形变的穿刺方法和路径优化设计理论，以及基于兴趣点目标形变移位操控机理的分阶段穿刺控制方法，结合仿真和仿体实验研究，对所提出的模型进行验证，最终形成较为完善的软组织穿刺理论和技术体系，为机器人辅助穿刺手术在癌症诊断和治疗的临床应用提供理论基础。

中文关键词： 软组织；穿刺；力加载；图像处理；路径规划

英文摘要： As a minimally invasive, safe and effective treatment method, puncture surgery has become an important diagnostic and treatment method for targeted biopsy, targeted inactivated of the tumor. Targeting the problem of obstacle avoidance difficultly, pulling needle repeatedly, low accuracy for current puncture operation, this proposed project is oriented at the goal of precise punctur for breast tumor in soft tissue with line-path puncture mothod, using real-time control strategy and method,which according to the order of controlling sensitive tissue away from and target tracking accurately the puncture path based on target-point deformation and displacement.It will be deeply studied that needle-tissue interaction modeling and nonlinear modeling of soft tissue deformation simulation, puncture method and path planning based on force preloading, and image-guided control mechanism and strategy for breast tumor tracking puncture path actively and accurately.It will be proposed that prediction method of tumor location based on needle-tissue interaction modeling, puncture method and path optimizing based on force preloading, and real-time control strategy and method for puncture surgery by stages based on target-point deformation and displacement.It will be built that perfect needle puncture theory and technique for soft

英文关键词： soft tissue；puncture；force preloading；image processing；path planning