Robot-assisted system and method for controlling flexible needle to puncture soft tissues in real time

Abstract

The invention provides a robot-assisted system and method for controlling a flexible needle to puncture soft tissues in real time, belonging to the technical field of medical equipment for minimally invasion surgeries (MIS). The system comprises a flexible needle puncture device, a driving device, a mechanical sensor, a data acquisition card and a computer, wherein the computer comprises stepping motor movement control software, force signal processing software and a flexible needle control algorithm. The method is used for realizing needle puncture movement through the following steps: regarding puncture process as a quasi-static process and any needle section as a cantilever, wherein each needle section is described by vector and is regarded as a cantilever; computing the deflection and cross section rotating angle of the needle section according to the theory of cantilever; and computing the positions of the needle body and the needle point in real time by iteration. According to the invention, real-time adjustment of the position of the needle body in the process of puncture is realized, thus effectively keeping away from the barriers in the process of puncture and precisely hitting the target; and further the degree of fatigue of the doctors is reduced, pains of the patients are alleviated, and the surgery risks are reduced.

Description

technical field [0001] The invention relates to a robot-assisted flexible needle puncture soft tissue manipulation system and method, belonging to the technical field of minimally invasive surgical medical devices. Background technique [0002] Minimally Invasion Surgery (MIS) is an important trend in the development of surgery. MIS is based on clinical medicine and integrates information science, material science, and medical engineering to make surgical operations minimally invasive, miniaturized, and intelligent. Medical robots and computer-aided medical surgery equipment and technologies developed on the basis of minimally invasive surgery research have also become one of the frontier research topics that have attracted much attention. [0003] In the field of minimally invasive surgery, needle puncture is the most basic minimally invasive surgical instrument used in surgical diagnosis and treatment such as general biopsy, local anesthesia, interventional radiation and ...

AI Technical Summary

Problems solved by technology

[0006] (1) The robot system used for the study of the deformation mechanism of soft tissue with needle puncture often only focuses on the alignment accuracy of the needle before insertion, and cannot provide real-time control after the needle enters the tissue;

[0007] (2) The robot-assisted system for puncture path optimization only completes the puncture motion control of the needle in soft tissue, generally including 2 to 3 degrees of freedom (needle feed, needle axial rotation or normal rotation), and lacks needle insertion. previous path planning

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