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Soft Tissue Deformation Modeling in the Procedure of needle insertion:A Kriging‑Based Method

Chinese Journal of Mechanical Engineering 2022年第3期35卷 187-199页

作者： Yong Lei Murong Li Dedong Gao State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China School of Mechanical Engineering Qinghai UniversityXining 810016China

The simulation and planning system(SPS)requires accurate and real-time feedback regarding the deformation of soft tissues during the needle insertion procedure.Traditional mechanical-based models such as the finite element method(FEM)are widely used to compute the deformations of soft tissue.However,it is difficult for the FEM or other methods to find a balance between an acceptable image fidelity and real-time deformation feedback due to their complex material properties,geometries and interaction mechanisms.In this paper,a Kriging-based method is applied to model the soft tissue deformation to strike a balance between the accuracy and efficiency of deformation feedback.Four combinations of regression and correlation functions are compared regarding their ability to predict the maximum deformations of ten characteristic markers at a fixed insertion depth.The results suggest that a first order regression function with Gaussian correlation functions can best fit the results of the ground truth.The functional response of the Kriging-based method is utilized to model the dynamic deformations of markers at a series of needle insertion depths.The feasibility of the method is verified by investigating the adaptation to step variations.Compared with the ground truth of the finite element(FE)results,the maximum residual is less than 0.92 mm in the Y direction and 0.31 mm in the X direction.The results suggest that the Kriging metamodel provides real-time deformation feedback for a target and an obstacle to a SPS.

关键词： Kriging metamodel needle insertion Real-time simulator Soft tissue deformation

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Sensitivity of Influential Factors on needle insertion Experiments:A Quantitative Analysis on Phantom Deformations and needle Deflections

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Chinese Journal of Mechanical Engineering 2020年第6期33卷 38-48页

作者： Murong Li Yong Lei Tian Xu State Key Laboratory of Fluid Power&Mechatronic Systems Zhejiang UniversityHangzhou310027China

High repeatability of needle insertion experiments is essential to the needle-phantom interaction model validation.However,the influential factors governing the accuracy of the phantom and needle deformations have not been systematically studied.In this paper,the impact of influential factors,including phantom characteristic represented by the ratio of DMSO and thawing time(TT),needle properties represented by needle external diameter(NED)and operating factors such as needle insertion velocity(IV),insertion positions(IP)and repeated insertion times(RITs)are analyzed by orthogonal experiment design.The range calculation shows the most sensitive parameters to phantom deformations are RITs,IV and DMSO while the most sensitive parameters to needle deflection are DMSO,TT and NED.By variance analysis,the significant factors on maximum tissue deformation(MTD)are IV,followed by RITs,DMSO and IP.And NED and TT have nearly no significant impact on MTD.The significant sequence on maximum needle deflection(MND)is as follows:DMSO,TT and NED.Results show that,among all impacting factors,phantom deformation is susceptible to both material properties and operative factors while the needle deflection is more susceptible to material properties of the phantom,which can help researchers in related fields to conduct experiments in a more precise manner and better understand the needle-phantom interaction mechanism.

关键词： needle insertion Sensitivity analysis Tissue deformation needle deflection

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Method with repeated extraction-insertion cycles to im prove the needle insertion accuracy

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Journal of Beijing Institute of Technology 2013年第3期22卷 324-329页

作者：张少华金鑫张之敬叶鑫刘冰冰 School of Mechanical Engineering Beijing Institute of Technology

In order to improve the effectiveness of percutaneous diagnosis and therapies, the needle insertion into the deforming soft and inhomogenous tissue should be accurate. In this study a needle with 6 degrees of freedom force/torque sensor is used to find the relationship between the pathway＇s length and the force. Our experiments show that the method with repeated extraction-insertion cy- cles can make the needle approach the target as much as possible. Meanwhile a method to obtain the appropriaterepeated extraction-insertion cycles is given to drive the needle to execute the repeat- ed cycles efficiently. Experiments and discussions were conducted to preliminarily validate the meth- od.

关键词： needle insertion soft tissue deformation misplacement elimination force feedback

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Fuzzy control method to minimize the needle deflection during needle insertion therapy

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Journal of Beijing Institute of Technology 2013年第4期22卷 477-482页

作者：张少华金鑫叶鑫张之敬刘冰冰邓勇军 School of Mechanical Engineering Beijing Institute of Technology

A fuzzy control algorithm is adopted to help the needle hit the target more accurately. The experimental setup for the needle insertion is built up to validate the algorithm. How the forces dur- ing the insertion make the needle deflect away from the planned path is given, and the normal meth- od correcting the deflection is obtained accordingly. Because the normal method cannot perform well for correction, a fuzzy controller is established. The input module, output module, fuzzification module, defuzzification module and inference engine for the controller are given respectively accord- ing to the fuzzy theory. Our experimental results show that the fuzzy controlling system presenting in the paper can better eliminate the deflection.

关键词： needle insertion needle deflection fuzzy control force feedback

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Dynamic Soft Tissue Deformation Estimation Based on Energy Analysis

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Chinese Journal of Mechanical Engineering 2016年第6期29卷 1167-1175页

作者： GAO Dedong LEI Yong YAO Bin State Key Laboratory of FluidPower and Mechatronic Systems Zhejiang University Hangzhou 310027 China School of Mechanical Engineering Qinghai University Xining 810016 China School of Mechanical Engineering Purdue University West Lafayette USA

The needle placement accuracy of millimeters is required in many needle-based surgeries. The tissue deformation, especially that occurring on the surface of organ tissue, affects the needle-targeting accuracy of both manual and robotic needle insertions. It is necessary to understand the mechanism of tissue deformation during needle insertion into soft tissue. In this paper, soft tissue surface deformation is investigated on the basis of continuum mechanics, where a geometry model is presented to quantitatively approximate the volume of tissue deformation. The energy-based method is presented to the dynamic process of needle insertion into soft tissue based on continuum mechanics, and the volume of the cone is exploited to quantitatively approximate the deformation on the surface of soft tissue. The external work is converted into potential, kinetic, dissipated, and strain energies during the dynamic rigid needle-tissue interactive process. The needle insertion experimental setup, consisting of a linear actuator, force sensor, needle, tissue container, and a light, is constructed while an image-based method for measuring the depth and radius of the soft tissue surface deformations is introduced to obtain the experimental data. The relationship between the changed volume of tissue deformation and the insertion parameters is created based on the law of conservation of energy, with the volume of tissue deformation having been obtained using image-based measurements. The experiments are performed on phantom specimens, and an energy-based analytical fitted model is presented to estimate the volume of tissue deformation. The experimental results show that the energy-based analytical fitted model can predict the volume of soft tissue deformation, and the root mean squared errors of the fitting model and experimental data are 0.61 and 0.25 at the velocities 2.50 mm/s and 5.00 mm/s. The estimating parameters of the soft tissue surface deformations are proven to be useful for compensating the needle-targeting error in the

关键词： needle insertion tissue deformation energy conservation

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A medical robot for needle placement therapy in liver cancer

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2010年第4期11卷 263-269页

作者： Xing-guang DUAN Gui-bin BIAN Hong-hua ZHAO Xing-tao WANG Qiang HUANG Intelligent Robotics Institute Beijing Institute of Technology Beijing 100081 China

Hepatocellular carcinoma (HCC) is the second most common malignancy in China.As microwave ablation (MWA) is an effective method for liver cancer,a robotic surgical system with ultrasound-directed was designed to assist surgeons on positioning the needles.This robotic system includes a surgical robot with 5 degrees of freedom,a workstation for path-planning and image processing,a conventional 2D ultrasound device,and an electromagnetic (EM) tracking system.Surgery space,clinical operation requirements and optimal mechanical structure are the key factors to be considered in designing a medical robot suitable for use by surgeons.Based on the mechanics of the needle placement robot,we have conducted detailed kinematic analysis,including a combined numerical algorithm and coordinate mapping.Finally,the feasibility of the needle placement robot has been validated by experiment.

关键词： Surgical robot needle insertion Inverse kinematics Numerical solution

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