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  本文關(guān)鍵詞：柔性針穿刺軟組織變形機理及動態(tài)軌跡規(guī)劃方法研究　出處：《浙江大學(xué)》2017年博士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 柔性針穿刺 針與軟組織交互作用 有限元方法 Kriging元模型 穿刺運動學(xué) 動態(tài)軌跡規(guī)劃

【摘要】：穿刺針是應(yīng)用在一般活檢、局部麻醉、介入放射和近距治療等外科診療中最基本的微創(chuàng)手術(shù)器械。大量外科診斷、治療和研究都需要針穿刺到特定靶點,其中大多數(shù)穿刺靶點都集中在軟組織器官。靶點位置運動和針穿刺運動軌跡的不確定性而引起的穿刺靶點誤差嚴(yán)重限制了針刺手術(shù)的臨床應(yīng)用。本論文以柔性針精確穿刺動態(tài)靶點為目標(biāo),深入分析了柔性針與軟組織之間交互作用機理,提出了基于改進局部約束法的軟組織變形有限元模型,采用MATLAB程序包實現(xiàn)了穿刺過程組織變形的二維仿真,實驗驗證了所提算法的有效性。將計算機實驗分析方法應(yīng)用于軟組織內(nèi)部靶點和障礙物運動的實時預(yù)測,建立了基于Kriging元模型的組織變形預(yù)測模型,與有限元計算結(jié)果對比表明Kriging預(yù)測模型能夠克服有限元計算代價大的缺陷。利用機器人運動學(xué)理論建立了穿刺過程中柔性針運動學(xué)模型,描述了針座與針尖之間的運動傳遞關(guān)系,進而建立了以調(diào)整角為控制參數(shù)的針體逆運動學(xué)方程,實驗結(jié)果驗證了運動學(xué)模型的正確性。利用人工勢場概念定義了考慮靶點和障礙物運動的廣義穿刺誤差,利用針體正逆運動學(xué)方程將組織變形動態(tài)環(huán)境下的軌跡規(guī)劃問題轉(zhuǎn)化為廣義穿刺誤差優(yōu)化問題,并提出了具體軌跡規(guī)劃算法,實驗驗證了動態(tài)軌跡規(guī)劃算法的可行性。本論文共分六章,主要內(nèi)容簡述如下:第一章,詳細(xì)介紹了計算機輔助軟組織針穿刺技術(shù)的研究背景和現(xiàn)狀,歸納出針穿刺誤差原因分類及表現(xiàn)。綜述了柔性針穿刺軟組織過程中針與軟組織相互作用機理、柔性針操控技術(shù)及穿刺運動規(guī)劃等方面的研究現(xiàn)狀,分析了現(xiàn)有組織變形模型和軌跡規(guī)劃方法存在的挑戰(zhàn)。最后概述了本論文的主要研究內(nèi)容和目標(biāo)。第二章,在線彈性軟組織有限元模型和柔性針懸臂梁模型的基礎(chǔ)上,基于改進局部約束法建立了柔性針-軟組織耦合模型,將針節(jié)點上作用力關(guān)系融入到軟組織模型中。采用MATLAB軟件實現(xiàn)了針穿刺軟組織過程仿真。設(shè)計了與仿真條件相同的實驗環(huán)境,并通過在PVA假體內(nèi)部添加標(biāo)識物來記錄節(jié)點位移情況,分析和比較了靠近針約束、遠(yuǎn)離針約束和靠近邊界約束等三類節(jié)點位移的實驗和仿真結(jié)果,平均誤差在0.50mm以內(nèi)。所提耦合算法可拓展適用于非線性非勻質(zhì)軟組織材料。第三章,將計算機實驗分析和元模型方法應(yīng)用于軟組織內(nèi)部靶點和障礙物運動的實時預(yù)測。介紹了Kriging元模型的基本原理和計算機實驗設(shè)計的拉丁超方格方法。建立了考慮軟組織和針材料性能參數(shù)、穿刺角度等11個變量的軟組織最大位移Kriging預(yù)測模型,分析了不同相關(guān)函數(shù)的預(yù)測性能和參數(shù)敏感性。建立了基于泛函響應(yīng)的軟組織變形實時預(yù)測Kriging模型,分析了模型對參數(shù)變化和時間指標(biāo)變化的適應(yīng)性能;與有限元仿真結(jié)果對比表明,Kriging實時模型預(yù)測相對殘差在35%之內(nèi),可較好地反映組織變形規(guī)律。第四章,在分析柔性針撓曲作用機理的基礎(chǔ)上,利用機器人運動學(xué)理論建立了斜角柔性穿刺針的正向和逆向運動學(xué)模型。采用準(zhǔn)靜態(tài)思想,對撓曲針體分段研究,將穿刺過程分解為n個子過程,每個子過程針尖運動可分解為兩個旋轉(zhuǎn)運動和一個平移運動,利用D-H方法描述了針座與針尖之間的運動關(guān)系。搭建了運動學(xué)實驗平臺,實驗結(jié)果表明運動學(xué)模型預(yù)測與實驗針尖偏移量誤差在0.80mm之內(nèi),靶點穿刺誤差小于0.78mm,能夠符合柔性針在軟組織內(nèi)部的變形規(guī)律。第五章,在討論針體逆運動學(xué)解存在性的基礎(chǔ)上,提出了無障礙和有障礙靜態(tài)環(huán)境下的針體軌跡規(guī)劃方法。利用歐式距離和人工勢場概念定義了考慮避障和中靶的廣義穿刺誤差,將動態(tài)環(huán)境下軌跡規(guī)劃問題轉(zhuǎn)化為穿刺誤差優(yōu)化問題,結(jié)合Kriging軟組織實時模型提出了動態(tài)軌跡規(guī)劃算法。實驗結(jié)果表明,所提出的靜動態(tài)軌跡算法綜合考慮了針體的操控性能和軌跡可行性,均可獲得可行的柔性針穿刺軌跡。第六章,歸納總結(jié)了本論文的主要研究工作,并對柔性針穿刺軟組織的后續(xù)研究工作進行了展望。
[Abstract]:The puncture needle is used in biopsy, local anesthesia, minimally invasive surgical instruments and the most basic radiation therapy and surgery intervention. A large number of surgical diagnosis, treatment and research are needed to target specific needle, most puncture target points are concentrated in soft tissue. Clinical application of puncture point error target moving point target the position and needle trajectory uncertainty caused by severely limiting the acupuncture operation. In this paper, the flexible needle puncture accurate dynamic target as the goal, in-depth analysis of the mechanism of interaction between the flexible needle and soft tissue, a finite element model of soft tissue deformation method based on improved local constraints, using MATLAB program the package to achieve a two-dimensional simulation procedure of deformation, experiments verify the effectiveness of the proposed algorithm. The computer experiment analysis method is applied to the soft tissue inside the target and obstacles. Real time dynamic prediction, prediction model is established for deformation of Kriging element model based organization, and finite element calculation results show that the prediction model can overcome the defects of Kriging finite element computational cost. The robot kinematics is established based on the theory of flexible needle puncture process kinematics model, describes the relationship between the needle tip and transfer movement, and then set up to adjust the angle of the needle body control parameters of the inverse kinematics equation, the experimental results verify the correctness of the kinematic model. Considering the generalized puncture target and obstacle motion error was defined by the artificial potential field concept, using the needle body kinematics equation will organize deformation trajectory planning problem in dynamic environment is transformed into a generalized puncture error optimization problems, and puts forward the specific trajectory planning algorithm, the experiments verify the feasibility of dynamic trajectory planning algorithm. This paper is divided into six chapters, The main contents are as follows: the first chapter introduces the research background and present situation of computer aided soft tissue needle technique, summarizes the classification and performance of needle puncture error causes. The paper reviews the mechanism of flexible needle puncture needle in the process of soft tissue and soft tissue interaction, research status of flexible needleoperation technology and motion planning and other aspects of the puncture and the analysis of the existing tissue deformation model and the method of trajectory planning challenges. Finally summarizes the main contents of this paper and the target. In the second chapter, based on line elastic finite element model of soft tissue and flexible needle cantilever beam model, the flexible needle - soft tissue coupling model is established based on the method of improving local constraints, integrate the needle node force in relation to the soft tissue in the model. The simulation of needle insertion into soft tissue by MATLAB software. The design and Simulation of the same experimental environment and conditions. To record the node displacement by adding markers in PVA internal analysis and comparison of the prosthesis, near the needle constraint, the experimental and simulation results from needle constraint and near the boundary constraints of three types of node displacement, the average error is less than 0.50mm. The proposed method can be applied to a coupling nonlinear inhomogeneous soft tissue material third. Chapter, real-time prediction method and experimental analysis of element model of computer application in target and obstacle motion inside the soft tissue. The Kriging element model and basic principle of computer experimental design method. The establishment of the Latin square test and needle material properties of soft tissue parameters into account, the maximum displacement of Kriging soft tissue puncture angle of 11 a variable prediction model, sensitivity analysis of prediction performance and parameters of different correlation functions are established. The real-time prediction of Kriging model of soft tissue deformation based on the analysis of the functional response, mode The change of parameters and time indicators of adaptive performance; compared with the results of finite element simulation, real-time Kriging prediction model for relative error within 35%, can reflect the deformation rule of organization. In the fourth chapter, based on the analysis of flexible needle deflection mechanism, the robot kinematics is established based on the theory of forward and inverse kinematics model of angle the flexible puncture needle. The quasi static thought, research on the deflection of the needle body segment, the puncture process is divided into n sub processes, each sub process of tip motion can be divided into two rotating motion and a translational motion, using the D-H method to describe the motion relationship between the seat and the needle tip. Build the kinematics experimental platform, experimental the results show that the kinematics model prediction and experimental tip offset error within 0.80mm, target puncture error is less than 0.78mm, can meet the flexible needle in soft tissue inside Deformation law. The fifth chapter discussed the inverse kinematics of the needle body solutions on the basis of the proposed accessibility and needle trajectory planning method for obstacle in static environment. Use the Euclidean distance and the artificial potential field is defined considering the generalized error avoidance and puncture target, the trajectory planning problem in dynamic environment into the puncture error optimization problem, combined with the Kriging soft tissue model is proposed for the dynamic real-time trajectory planning algorithm. The experimental results show that the static and dynamic trajectory algorithm proposed considering the control performance and the feasibility of the trajectory of the needle body, can obtain the flexible needle trajectory feasible. The sixth chapter summarizes the main research work of this thesis, and follow-up study of flexible needle insertion into soft tissue are discussed.

【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2017
【分類號】：R446.8

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