Please wait a minute...
浙江大学学报(工学版)
自动化技术、控制技术     
基于几何逼近法的斜尖柔性穿刺针运动学研究
高德东, 李强, 雷勇, 徐飞, 白辉全
1. 青海大学 机械工程学院,青海 西宁 810016;
2. 浙江大学 流体动力与机电系统国家重点实验室,浙江 杭州 310027
Geometric approximation approach based research on kinematics of bevel-tip flexible needles
GAO De-dong, LI Qiang, LEI Yong, XU Fei, BAI Hui-quan
1. School of Mechanical Engineering, Qinghai University, Xining 810016, China;
2. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
 全文: PDF(1237 KB)   HTML
摘要:

为了使得斜尖柔性穿刺针能够精确刺中目标靶点,建立斜尖柔性穿刺针的正逆向运动学模型.大量实验研究表明,柔性穿刺针在穿刺过程中,弯曲曲率近似常量沿着由固定半径的圆弧组成的路径进针.基于柔性穿刺针这种特性,利用D-H(Denavit-Hartenberg)参数法建立柔性穿刺针正向运动学模型;利用D-H参数法以及几何逼近法,基于针尖相对靶点的可达性条件,建立柔性穿刺针逆向运动学模型;通过仿真实验验证了所建立的柔性穿刺针运动学模型,结果表明,采用提供的运动学模型能够准确求出从进针点到靶点的所有路径.

Abstract:

The forward and inverse kinematical models were established in order to accurately insert the bevel-tip flexible needle into target. Lots of experimental studies indicate that the binding curvature of flexible needles is approximately constant in the procedure of insertion, so the needle is inserted into soft tissue along a path composed of circular arcs of approximately constant radius. This feature of flexible needles was used. D-H (Denavit-Hartenberg) method was adopted to establish the forward kinematics model of flexible needles. The combination of D-H method and the geometric approximation approach were used to derive the inverse kinematics model of flexible needles under the consideration of the needle tip’s reachability corresponding to target. The simulation results show that the proposed kinematics model can correctly obtain all feasible paths between the entry point and target.

出版日期: 2017-04-25
CLC:  TP 242  
基金资助:

国家自然科学基金资助项目(51665049);青海省自然科学基金资助项目(2015-ZJ-906);国家自然科学基金创新研究群体科学基金资助项目(51221004).

通讯作者: 雷勇,男,副教授. ORCID: 0000-0003-0235-5203.     E-mail: ylei@zju.edu.cn
作者简介: 高德东(1980—),男,副教授,博士,从事医疗装备及机器人技术的研究. ORCID: 0000-0002-2959-8611. E-mail:gaodd@qhu.edu.cn
服务  
把本文推荐给朋友
加入引用管理器
E-mail Alert
作者相关文章  

引用本文:

高德东, 李强, 雷勇, 徐飞, 白辉全. 基于几何逼近法的斜尖柔性穿刺针运动学研究[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2017.04.010.

GAO De-dong, LI Qiang, LEI Yong, XU Fei, BAI Hui-quan. Geometric approximation approach based research on kinematics of bevel-tip flexible needles. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2017.04.010.

[1]  HEVERLY M, DUPONT P, TRIEDMAN J. Trajectory optimization for dynamic needle insertion [C] ∥Proceedings of the 2005 IEEE International Conference on Robotics and Automation. Spain: IEEE, 2005: 1658-1663.
[2]  ASADIAN A, PATEL R V, KERMANI M R. Dynamics of translational friction in needle-tissue interaction during needle insertion [J]. Annals of Biomedical Engineering, 2014, 42(1): 73-85.
[3]  ABOLHASSANI N, PATEL R, AYAZI F. Effects of different insertion methods on reducing needle deflection [C]∥Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. France: IEEE, 2007: 491-494.
[4]  REED K B, MAJEWICZ A, KALLEM V, et al.Robot-assisted needle steering [J]. IEEE Robotics and Automation Magazine, 2011, 18(4): 35-46.
[5]  ALTEROVITZ R, GOLDBERG K, OKAMURA A. Planning for steerable beveltip needle insertion through 2D soft tissue with obstacles [C]∥Proceedings of the 2005 IEEE International Conference on Robotics andAutomation. Spain: IEEE, 2005: 1652-1657.
[6]  GLOZMAN D, SHOHAM M. Image-guided robotic flexible needle steering [J]. IEEE Transactions on Robotics, 2007, 23(3): 459-467.
[7]  MISRA S, REED K B, SCHAFER B W, et al. Mechanics of flexible needles robotically steered through soft tissue [J]. The International Journal of Robotics Research, 2010, 29(13): 1640-1660.
[8]  WEBSTER R J, KIM J S, COWAN N J, et al. Nonholonomic modeling of needle steering [J]. The International Journal of Robotics Research, 2006, 25(5/6):509-525.
[9]  WEBSTER III R J, MEMISEVIC J, OKAMURA A M. Design considerations for robotic needle steering [C] ∥Proceedings of the 2005 IEEE International Conference on Robotics and Automation. Spain: IEEE, 2005: 3599-3605.
[10] DUINDAM V, XU Jijie, ALTEROVITZ R, et al. Three-dimensional motion planning algorithms for steerable needles using inverse kinematics [J]. The International Journal of Robotics Research, 2010, 29(7): 789-800.
[11] 赵燕江,张永德,邵俊鹏. 柔性针的运动学建模及实验研究[J]. 机器人,2010,32(5): 666-673.
ZHAO Yan-jiang, ZHANG Yong-de, SHAO Jun-peng. Kinematic modeling and experimental study of flexible needle [J]. Robot, 2010, 32(5): 666-673.
[12] ALTEROVITZ R, BRANICKY M, GOLDBERG K. Motion planning under uncertainty for image-guided medical needle steering [J]. The International Journal of Robotics Research, 2008, 27(11/12): 1361-1374.
[13] PARK W, WANG Y, CHIRIKJIAN G S. The path-of-probability algorithm for steering and feedback control of flexible needles [J]. The International Journal of Robotics Research, 2009, 29(7): 813-830.
[14] DE LORENZO D, KOSEKI Y, DE MOMI E, et al. Experimental evaluation of a coaxial needle insertion assistant with enhanced force feedback [C]∥33rd Annual International Conference of the IEEE EMBSE. Boston: IEEE, 2011: 3447-3450.
[15] GLOZMAN D, SHOHAM M. Medical Image Computing and ComputerAssisted InterventionMICCAI 2004 [M]. Berlin: Springer, 2004: 137-144.
[16] ABOLHASSANI N, PATER R, AYAZI F. Needle control along desired tracks in robotic prostate brachytherapy [C]∥IEEE International Conference on Systems, Man and Cybernetics. Montreal: IEEE, 2007: 3361-3366.
[17] MISRA S, REED K B, DOUGLAS A S, et al. Needle-tissue interaction forces for bevel-tip steerable needles [C]∥Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. Scottsdale: IEEE, 2008: 224-231.
[18] 杜海艳,张永德,赵燕江,等. 斜尖针穿刺软组织建模及针尖轨迹预测[J]. 仪器仪表学报,2015,36(8): 1744-1751.
DU Hai-yan, ZHANG Yong-de, ZHAO Yan-jiang, et al. Modeling of bevel-tipped needle inserting into soft tissue and estimation of needle tip trajectory [J]. Chinese Journal of Scientific Instrument, 2015, 36(8): 1744-1751.
[19] 郑浩峻,姚望,高德东,等. 机器人辅助柔性针穿刺路径的悬臂梁预测模型[J]. 清华大学学报:自然科学版,2011,51(8): 1078-1083.
ZHENG Hao-jun, YAO Wang, GAO De-dong, et al. Projecting beam model for robot-assisted flexible needle insertion [J]. Journal of Tsinghua University: Science and Technology, 2011, 51(8): 1078-1083.
[20] 高德东, 朱侗, 王珊, 等. 基于悬臂梁模型的针挠曲预测[J]. 医用生物力学, 2015, 30(6): 535-539.
GAO De-dong, ZHU Tong, WANG Shan, et al. Needle deflection prediction based on projection beam model [J]. Journal of Medical Biomechanics, 2015, 30(6): 535-539.
No related articles found!