ABSTRACT

Percutaneous needle insertion constitutes a widely adopted technique for performing minimally invasive operations. Robot-assisted needle placement and virtual surgical training platforms have the potential to significantly improve the accuracy of these operations. For this, the development of mathematical models that provide a complete characterization of the underlying dynamics of medical needles is considered of paramount importance. In this paper, we develop two three-dimensional nonlinear rigid/flexible dynamic models of brachytherapy and local anaesthetic transperineal biopsy (LATP) needles. The proposed models relax the assumptions of previous investigations, quantify the vibrational behaviour and the rigid-body dynamics of medical needles and allow for real-time haptic and visual feedback information. Their accuracy and computational efficiency are assessed and validated using commercial software. The results show that, among the examined methods, the Rigid Finite Element Method provides the most accurate and numerically efficient solution for capturing the dynamics of flexible medical needles.

摘要

经皮穿刺针是一种广泛采用的微创手术技术。机器人辅助针放置和虚拟手术训练平台有可能显着提高这些操作的准确性。为此，开发提供医用针头基本动力学完整特征的数学模型被认为是至关重要的。在本文中，我们开发了近距离放射治疗和局部麻醉经会阴活检 (LATP) 针的两个三维非线性刚性/柔性动力学模型。所提出的模型放宽了先前调查的假设，量化了医用针的振动行为和刚体动力学，并允许实时触觉和视觉反馈信息。他们的准确性和计算效率使用商业软件进行评估和验证。结果表明，在所检查的方法中，刚性有限元法为捕获柔性医用针的动力学提供了最准确和数值上最有效的解决方案。