套管式柔性针与人体组织相互作用机理及运动学建模研究

项目名称： 套管式柔性针与人体组织相互作用机理及运动学建模研究

项目编号： No.51305107

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 机械、仪表工业

项目作者： 赵燕江

作者单位： 哈尔滨理工大学

项目金额： 26万元

中文摘要： 柔性针具有矫正路径、绕过障碍和穿刺灵活等优点，在微创介入领域中应用前景广阔。但传统柔性针固定的弯曲半径限制了其矫正路径的能力和穿刺的灵活性，同时由于针轴与组织间的扭转摩擦，斜尖转角难以精确控制，严重制约了柔性针的应用。 本项目提出机器人辅助的套管式柔性针，针芯和套管分离，能够穿刺出不同曲率的路径；套管将针芯与组织隔开，消除针芯与组织的扭转摩擦，提高斜尖转角的控制精度，有效解决上述问题。利用大变形理论和有限元相结合的方法，研究套管与针芯的力-耦合变形机理和组织的力-变形机理；基于材料和生物力学特性进行力学建模，揭示套管式柔性针与组织的相互作用机理；利用最小势能原理和S-R分解定理，建立多种穿刺模式下套管式柔性针及组织中靶点的运动学模型；建立机器人辅助套管式柔性针的靶向穿刺实验系统，进行实验研究。本项目的研究将实现复杂病灶情况绕障碍人体深度穿刺，有效提高柔性针靶向穿刺临床应用的准确性和灵活性。

中文关键词： 套管式柔性针；针-组织作用机理；运动学建模；路径规划；机器人辅助手术

英文摘要： Because of its advantages such as path modification, avoiding obstacles and puncture flexibility, the flexible needle has a widespread application prospect in minimally invasive surgery. However, the fixed bending radius of the traditional flexible needle restricts its path modification capacity and puncture flexibility. In the mean time, the rotation angle of the bevel tip is difficult to control because of the torsional friction between the needle shaft and the tissue. These badly restrain the applications of the flexible needle. The cannula flexible needle assisted by robot is proposed in this project. The separate stylet and cannula can puncture different curvature of paths. The cannula, partitioning the stylet and the tissue, eliminates the torsional friction between them and improves the control accuracy of the bevel tip rotation. These can effectively resolve the problems mentioned above. The integration of large deformation theory and finite element method is utilized to research the force-coupling deformation mechanism between the cannula and stylet and the force-deformation mechanism of the tissue. The interaction mechanism between the cannula flexible needle and the tissue is revealed by the mechanical modeling based on the mechanics properties of materials and tissue. The kinematic models of the cann

英文关键词： cannula flexible needle；needle-tissue interaction mechanism；kinematic modeling；path planning；robot-assisted surgery