摘要
为了提高机器人辅助针穿刺软组织的精度,减小穿刺误差,建立了柔性穿刺针的弹性悬臂梁物理模型,提出一种穿刺针受力分析的算法,并通过理论计算和ANSYS对模型进行仿真分析,得到了穿刺针元素节点的挠度和偏转角度,并验证了一致性.此外,利用准静态有限元分析法将软组织形变的连续动态过程离散成静态有限元模型,对二维软组织和三维软组织进行有限元模拟仿真,得到各节点的形变位移和力的分布云图,为预测组织形变和术前规划提供了重要的参考依据.
In order to reduce deflection of the stabbing needle and increase the accuracy of the robot-assisted needle insertion into soft tissue, an elastic beam model of stabbing needle is built. We put forward a algorithm to analyze force on stabbing needle and get the bending and deflection angle of the element node. Theoretical calcu- lation and experimental simulation show the validation and consistency of the algorithm. The dynamic process of the soft tissue deformation during needle insertion is decomposed into a set of discrete quasi-static stages. We get displacement and force distribution of each node of the soft tissue by simulating needle insertion into two and three dimensional tissue, which provide significant reference for predicting soft tissue deformation and planning before surgery.
出处
《江苏科技大学学报（自然科学版）》
CAS
2012年第5期487-493,共7页
Journal of Jiangsu University of Science and Technology:Natural Science Edition
基金
国家自然科学基金资助项目(60575051)
江苏省"青蓝工程"中青年学术带头人资助项目
江苏高校优势学科建设工程资助项目
关键词
机器人辅助穿刺针
弹性梁
软组织
形变
robot-assisted stabbing needle
elastic beam
soft tissue
deformation
