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

A flexible needle and soft tissue technology, applied in the field of minimally invasive surgical medical devices, can solve the problems of not being able to provide real-time control of the needle body, lack of path planning, and only focusing on alignment accuracy
CN102018575BInactive Publication Date: 2012-08-22TSINGHUA UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
TSINGHUA UNIV
Publication Date
2012-08-22
Estimated Expiration
Not applicable · inactive patent

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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 steppingmotor 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 andcross 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.
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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 ...

Claims

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