Real-time soft tissue deformation amount measurement method in robot-assisted flexible needle penetration experiments on soft tissues

Abstract

Disclosed is a real-time soft tissue deformation amount measurement method which is applied to robot-assisted flexible needle penetration experiments on soft tissues. According to the method belonging to the technical field of medical instruments for minimally invasive surgery, a real-time soft tissue deformation amount measurement device and a real-time soft tissue deformation amount measurement algorithm are adopted. A six-axis force / torque sensor serves as a core component of the device. The device further comprises a rectangular tissue support plate, a round tissue tray, a rectangular bottom plate, a data collection card and a computer. The round tissue tray is connected with the top end of the sensor, and the rectangular bottom plate used for fixing the sensor is connected with the bottom surface of the sensor. The computer is provided with signal processing software. The measuring device is fixed at the bottom of a tissue container. The signal processing software includes a tissue squeezing force calculation algorithm and a tissue deformation amount calculation algorithm. By the two calculation algorithms, real-time reading and calling of tissue squeezing force and real-time recording and displaying of tissue deformation amount are achieved, and accordingly, real-time display of the tissue deformation amount in the needle penetration experiments on the soft tissues is achieved.

Description

technical field [0001] The invention relates to a method for real-time measurement of soft tissue deformation. The method is used in soft tissue puncture experiments assisted by robots. The method includes a real-time measurement device for soft tissue deformation and a set of real-time measurement algorithms for soft tissue deformation. It belongs to minimally invasive surgery and medical treatment. Device technology field. Background technique [0002] Minimally invasive surgery (Minimally Invasion Surgery, MIS) is a new technology that has developed rapidly in recent years. Compared with traditional surgery, it has the advantages of less local trauma, shorter operation time, less systemic reaction, and faster recovery of organ function. 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] I...

AI Technical Summary

Problems solved by technology

Among them, extrusion force is the main cause of tissue deformation, but the measurement of tissue extrusion force and deformation is a difficult problem. There are two common methods to obtain tissue extrusion force as follows, and there is currently no suitable method for tissue deformation measurement :

[0004] (1) Install a six-axis force / torque sensor on the needle seat. The extrusion force of the tissue on the needle body will generate a force on the needle seat in the opposite direction to the extrusion force according to the principle of leverage. It is approximately considered that this is tissue extrusion. pressure, but does not take into account the bending of the needle

[0005] (2) A pressure sensor is installed at the bottom of the tissue container box. When the needle punctures the soft tissue, a downward pressure will be generated. It is approximately considered that this pressure is the tissue extrusion force, and the error is relatively large.

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