Mechanical and bending deformation modeling method for flexible needle penetration into soft tissue

Abstract

The invention provides a mechanical and bending deformation modeling method for flexible needle penetration into the soft tissue. The method comprises: step one, establishing a clamping friction forcemodel; step two, establishing a cutting force model; step three, establishing a tissue resistance model; and step four, according to an established mechanical model, obtaining lateral component forces of all forces and carrying out summation, and introducing the lateral joint force into a large deformation theory to calculate bending deformation of a flexible needle. According to the method provided by the invention, the influences of relates factors like the supporting friction force and the tissue resistance friction force are taken into consideration and the large deformation theory conforming to the actual situation of the bending deformation of the flexible needle is selected, so that the mechanical and bending deformation model of the flexible needle is perfected.

Description

technical field [0001] The invention relates to a mechanical and bending deformation modeling method for soft tissue puncture by a flexible needle. Background technique [0002] Minimally invasive interventional medicine is a new medical technology that has developed rapidly in recent years. It is an emerging medical method between surgery and internal medicine. Targeted puncture technology is one of the most promising medical methods. However, traditional puncture surgery uses a rigid needle, which cannot effectively control the position of the needle tip. Due to uneven force on the needle tip and tissue deformation during puncture, the needle tip deviates from the predetermined target, resulting in failure of puncture; therefore, for traditional puncture needles Foreign scholars have proposed the use of flexible needle manipulation technology. The flexible needle uses a slender needle tube, which can reduce tissue incisions, reduce discomfort, and speed up postoperative re...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a mechanical and bending deformation modeling method for soft tissue puncture with a flexible needle, which solves the problem that most of the existing mechanical models are simplified, and the mechanical modeling of the influence of the main force in the puncture process is not fully considered. Problem; overcoming the basic beam theory used in modeling the bending deformation of flexible needles, ignoring the defect of the square of the first derivative in the curvature formula

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