手术针穿刺软组织的建模及路径规划研究
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摘要
用手术针经皮穿刺进入软组织是现代临床医学一个很重要的组成部分,且在近年吸引了很多研究人员的注意力。许多的临床应用,比如活组检测,注射,神经外科和癌症的治疗等过程都会用到类似的微创治疗手段。在这些过程中,需要能够精确将手术针针尖控制到某个目标位置区域。然而,由于在穿刺过程中手术针和周围组织的相互作用和组织内部的复杂环境使得组织和手术针都发生变形,手术针会偏离预定的运动路径并最终导致无法精确的到达目标区域。鉴于此,本论文重点研究了如何对手术针穿刺进入软组织并顺利到达目标位置区域这个过程中的路径进行最优规划。整个论文主要包含如下几个方面的内容：
第一,为了预测手术针在穿刺过程中的弯曲情况,我们首先对手术针和组织之间的相互作用进行了调研。在实际的临床过程中,能够在手术前准确的预测手术针的弯曲变形对于手术的规划具有重要的意义。在此文中,我们利用Rayleigh-Ritz方法,提出了一个能够成功的预测手术针穿刺过程中弯曲情况的预测模型。通过结合模型和手术针当前的几何形状,该模型能够预测在组织材料属性不均匀时的弯曲情况。
第二,我们考虑了在弹性手术针穿刺进入理想的静态环境下的路径规划问题。由于手术针是弹性的,针尖切角在受到不平衡的力时,会让手术针自然的发生弯曲。该弯曲后的路径可以近似成一个曲率恒定的圆弧。我们第一次提出将手术针的运动轨迹约束在两条平行线之间,并通过寻找平行线间距的最优值来得到我们所需要的最优路径。该最优路径满足在旋转次数最少的情况下能使路径的总长度最短。我们对二维和三维的路径规划问题都分别进行了定义和研究。
第三,我们考虑了软组织属性对整个手术针穿刺过程的影响。由于软组织在手术针穿刺过程中会发生变形,而且软组织自身具有非均匀的特性,所以整个穿刺过程中,目标点和手术针路径的曲率都会随着穿刺深度的不同而发生变化。如果不考虑这些因素,穿刺结果往往都不理想甚至失败。在这里,我们提出了一个动态的路径规划算法,该算法可以根据目标位置和穿刺路径半径的变化进行路径的重规划,这样就可以减小最后的穿刺误差。我们用弹簧质点法建立了软组织变形的一个模型来模拟手术针穿刺过程中组织的变形情况。同时,我们搭建了一个能控制手术针穿刺进入人造组织(医用硅胶)的实验平台来验证我们的路径规划算法。
总的来说,该论文对控制一个弹性手术针穿刺进入软组织的过程进行预测建模和最优路径规划进行了深入的研究。该论文考虑了整个穿刺过程软组织的变形及组织的非均匀性带来的影响,对弹性手术针在穿刺进入软组织更加深入的研究具有重要的意义。
Needle insertion into soft tissue is an essential component of many clinical procedures and has attracted considerable attention in recent years. Many applications such as biopsies, injections, neurosurgery, and cancer treatment require the use of minimal invasive percutaneous procedures, in which precise needle tip placement to a clinical target is necessary. When inserting a needle into soft tissue, the complex tissue environment, tissue deformation, and needle deflection will result in the needle deviating from its intended path and not reaching its target position. This thesis aims to study an optimized path planner to enable steerable needles reach their target position in soft tissue environment. The research is carried out in the following perspectives.
First, the investigation of needle-tissue interaction aims to predict needle deflection during insertion is presented. A prediction model that can estimate needle deflection is necessary for surgery planning before the real procedure. By using the Rayleigh-Ritz method, this thesis develops a prediction model that can successfully predict the deflection of a needle undergoing single or multiple bends during insertion. Through incorporation with the tissue model and needle geometry, the prediction model can also account for the needle deflection when the radius of the curve is not constant.
Second, this study addresses the path-planning problem in inserting a bevel-tip needle in static environment (rigid tissue). Given the bevel-tip and flexibility of the needle, the trajectory of the needle tip can be approximated as a curve of constant radius. This study is the first to regulate the curved path within two parallel lines and determine the optimal distance between the two parallel lines such that the generated moving path of the needle has the shortest length with the least number of needle rotations. Both2D and3D path-planning problems have been defined and solved according to the presence of an obstacle in the trajectory path.
Third, the influences of the tissue properties to the insertion of a needle into soft tissue are discussed. Given the tissue deformation and nonhomogenous tissue properties, the target position and the radius of the curve path vary with the insertion of the needle, which may result in the failure of the insertion task. Therefore, this thesis develops a dynamic path planner that can replan the path to adapt to changes in the target position and curve radius. A mass-spring model for modeling soft tissue deformation is adopted to simulate the dynamic environment. An experimental setup for steering a thin and flexible needle into phantom tissue (silica gel) with vision feedback is established to demonstrate the performance of the proposed path planner associated with tissue modeling.
In summary, this thesis makes an important contribution in developing a mechanics-based prediction model and an optimal path planner for steering a flexible needle into soft tissue while considering nonhomogenous tissue properties and needle-tissue interactions.
第一,为了预测手术针在穿刺过程中的弯曲情况,我们首先对手术针和组织之间的相互作用进行了调研。在实际的临床过程中,能够在手术前准确的预测手术针的弯曲变形对于手术的规划具有重要的意义。在此文中,我们利用Rayleigh-Ritz方法,提出了一个能够成功的预测手术针穿刺过程中弯曲情况的预测模型。通过结合模型和手术针当前的几何形状,该模型能够预测在组织材料属性不均匀时的弯曲情况。
第二,我们考虑了在弹性手术针穿刺进入理想的静态环境下的路径规划问题。由于手术针是弹性的,针尖切角在受到不平衡的力时,会让手术针自然的发生弯曲。该弯曲后的路径可以近似成一个曲率恒定的圆弧。我们第一次提出将手术针的运动轨迹约束在两条平行线之间,并通过寻找平行线间距的最优值来得到我们所需要的最优路径。该最优路径满足在旋转次数最少的情况下能使路径的总长度最短。我们对二维和三维的路径规划问题都分别进行了定义和研究。
第三,我们考虑了软组织属性对整个手术针穿刺过程的影响。由于软组织在手术针穿刺过程中会发生变形,而且软组织自身具有非均匀的特性,所以整个穿刺过程中,目标点和手术针路径的曲率都会随着穿刺深度的不同而发生变化。如果不考虑这些因素,穿刺结果往往都不理想甚至失败。在这里,我们提出了一个动态的路径规划算法,该算法可以根据目标位置和穿刺路径半径的变化进行路径的重规划,这样就可以减小最后的穿刺误差。我们用弹簧质点法建立了软组织变形的一个模型来模拟手术针穿刺过程中组织的变形情况。同时,我们搭建了一个能控制手术针穿刺进入人造组织(医用硅胶)的实验平台来验证我们的路径规划算法。
总的来说,该论文对控制一个弹性手术针穿刺进入软组织的过程进行预测建模和最优路径规划进行了深入的研究。该论文考虑了整个穿刺过程软组织的变形及组织的非均匀性带来的影响,对弹性手术针在穿刺进入软组织更加深入的研究具有重要的意义。
Needle insertion into soft tissue is an essential component of many clinical procedures and has attracted considerable attention in recent years. Many applications such as biopsies, injections, neurosurgery, and cancer treatment require the use of minimal invasive percutaneous procedures, in which precise needle tip placement to a clinical target is necessary. When inserting a needle into soft tissue, the complex tissue environment, tissue deformation, and needle deflection will result in the needle deviating from its intended path and not reaching its target position. This thesis aims to study an optimized path planner to enable steerable needles reach their target position in soft tissue environment. The research is carried out in the following perspectives.
First, the investigation of needle-tissue interaction aims to predict needle deflection during insertion is presented. A prediction model that can estimate needle deflection is necessary for surgery planning before the real procedure. By using the Rayleigh-Ritz method, this thesis develops a prediction model that can successfully predict the deflection of a needle undergoing single or multiple bends during insertion. Through incorporation with the tissue model and needle geometry, the prediction model can also account for the needle deflection when the radius of the curve is not constant.
Second, this study addresses the path-planning problem in inserting a bevel-tip needle in static environment (rigid tissue). Given the bevel-tip and flexibility of the needle, the trajectory of the needle tip can be approximated as a curve of constant radius. This study is the first to regulate the curved path within two parallel lines and determine the optimal distance between the two parallel lines such that the generated moving path of the needle has the shortest length with the least number of needle rotations. Both2D and3D path-planning problems have been defined and solved according to the presence of an obstacle in the trajectory path.
Third, the influences of the tissue properties to the insertion of a needle into soft tissue are discussed. Given the tissue deformation and nonhomogenous tissue properties, the target position and the radius of the curve path vary with the insertion of the needle, which may result in the failure of the insertion task. Therefore, this thesis develops a dynamic path planner that can replan the path to adapt to changes in the target position and curve radius. A mass-spring model for modeling soft tissue deformation is adopted to simulate the dynamic environment. An experimental setup for steering a thin and flexible needle into phantom tissue (silica gel) with vision feedback is established to demonstrate the performance of the proposed path planner associated with tissue modeling.
In summary, this thesis makes an important contribution in developing a mechanics-based prediction model and an optimal path planner for steering a flexible needle into soft tissue while considering nonhomogenous tissue properties and needle-tissue interactions.
引文
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