缝针刺入角膜组织的力学模型  

Force modeling for needle insertion into corneal tissue

作　　者：轩新想[1] 杨洋[1] 王哲[1] 邓世靖[2] 刘笑宇[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100191 [2]首都医科大学北京眼科研究所,北京100730

出　　处：《高技术通讯》2009年第9期951-956,共6页Chinese High Technology Letters

基　　金：国家自然科学基金(50675008)资助项目。

摘　　要：首先通过分析缝针刺入角膜组织过程中的力学行为,将缝针与角膜组织之间的相互作用力分解为表面接触力、摩擦力和切割力。根据修正的Karnopp摩擦模型,进行了正弦加载的摩擦力提取实验。根据摩擦力-时间变化曲线,得到了针刺角膜的摩擦力模型。其次,基于针刺角膜过程中表面接触力的实验结果,通过二次曲线拟合方法建立了表面接触力模型。最后,根据针刺角膜的力-位移关系和摩擦力模型,得到了对应的切割力模型。此研究为手术机器人进行角膜缝合精细作业提供了依据。The mechanical behavior of needle puncturing comeal tissue was analyzed, and the interactive forces between the needle and corneal tissue were resolved into three components, the surface contact force, the friction force and the cutting force. Then a sine loading testing was done based on the modified Karnopp friction model. With the relationship between friction and time, a friction model was established. Then the contact force model was obtained by the quadratic curve fitring from the testing results of surface contact force during needle puncturing tissue. Finally, the cutting force model was concluded according to the testing curve and the friction force model. The research results can be used in fine manipulation during corneal-grafting surgery.

关 键 词：角膜缝合 针轴力 力学建模 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]