摘要
针对套管柔性针的精准穿刺控制问题,对套管柔性针的弯曲特性进行了探究。通过旋量理论和指数积方程建立了套管柔性针的运动学模型,提出了基于量纲分析理论和等效刚度法的套管柔性针弯曲特性分析方法,确定了影响针弯曲变形的参数,并采用函数回归方法确定了变曲率特性函数。变曲率特性实验表明系统误差在2 mm内,满足一般临床手术的精度要求,验证了套管柔性针的变曲率特性建模的精准性。
Aiming at the problems of precise insertion control of cannula flexible needles,the bending characteristics of the needles were studied.The kinematics model of the cannula flexible needles was established by means of the screw theory and the exponential product equation.The bending characteristic analysis method of the cannula flexible needles was proposed based on the dimensional analysis theory and the equivalent stiffness approach to identify the parameters affecting the bending deformations of the needles,and the variable-curvature characteristic function was determined by function regression method.The variable-curvature characteristic experiments were carried out,and the systematic error values are within 2 mm,which meets the accuracy requirements of general clinical surgery and the accuracy of the proposed the variable-curvature characteristic modeling for the cannula flexible needles is proved.
作者
赵燕江
张鹤
钱程
张永德
ZHAO Yanjiang;ZHANG He;QIAN Cheng;ZHANG Yongde(Key Laboratory of Advanced Manufacturing and Intelligent Technology,Ministry of Education,Harbin University of Science and Technology,Harbin,150080;Weihai Research Institute,Harbin University of Science and Technology,Weihai,Shandong,264300)
出处
《中国机械工程》
北大核心
2025年第3期455-462,共8页
China Mechanical Engineering
基金
国家自然科学基金(U23A20391,52775015)
山东省自然科学基金(ZR2023ME132)。
关键词
微创介入手术
套管柔性针
运动学模型
变曲率特性
minimally invasive surgery
cannula flexible needle
kinematics model
variable-curvature characteristic
