基于势能场的针刺软组织轨迹规划  

The Potential Field-based Trajectory Planning of Needle Invasion in Soft Tissue

作　　者：姜杉[1] 刘晓艳[1] 白松[1] 杨志永[1] 

机构地区：[1]天津大学机械工程系,天津300072

出　　处：《生物医学工程学杂志》2010年第4期790-794,共5页Journal of Biomedical Engineering

基　　金：国家自然科学基金资助项目(60703045)

摘　　要：器官软组织是包含神经和血管在内的弹性组织,近距离粒子植入治疗手术是器官肿瘤治疗行之有效的放射性、非创伤性方法。针对针刺软组织的轨迹规划问题,本文采用基于人工势能场的方法,对三维动态软组织轨迹规划进行研究。通过定义势能场函数,建立了三维综合势能场。研究了三维静态条件下的轨迹规划路径,建立了软组织的三维动态有限元模型。根据离散时间上的轨迹点,和沿针刺点最小势能方向,得到了动态条件下的轨迹规划路径。模拟试验仿真表明上述方法达到了缩短轨迹路径,减小针刺误差的目的。Soft tissue is one kind of elastic tissue which includes the blood vessel and nerve,and brachytherapy is a radioactive and non-invasive way for the treatment of cancer in which soft tissue is always deformed. Aiming at this soft tissue-induced-problem,the present authors have made a research on the trajectory planning in operation.The 3D artificial potential field of organ is set up by the function definition of cancer attracting force and blood vessel repulsion force,the dynamic finite element model is also built for the important displacement parameters of deformation node in needle invasion process.Moreover,the minimum potential direction in each node,and the static and dynamic trajectory planning are investigated.Finally,the experimental simulation shows the validation and correctness of the above-mentioned method.

关 键 词：近距离粒子植入治疗 人工势能场 软组织 轨迹规划 

分 类 号：R318.0[医药卫生—生物医学工程]