被动导航时关节型针结构的研究  

Study on Structure of Articulated Needle under Passive Navigation

作　　者：张锐[1] 王以忠[1] 牛霆葳[1] 赵晓强[1] 李达[1] 孙珂[1] 陈永华[2] 

机构地区：[1]天津科技大学电子信息与自动化学院,天津300222 [2]香港大学机械工程系,香港特别行政区999077

出　　处：《医疗卫生装备》2013年第9期4-5,16,共3页Chinese Medical Equipment Journal

基　　金：国家自然科学基金项目(2011GA610008)

摘　　要：目的:使微创手术中的针能够更好地完成各种复杂的穿刺任务。方法:研究了关节型针的结构,由具有斜尖的头节、若干个关节和若干针节组成。分析了被动导航时关节型针的运动方式,给出了关节型针的圆弧多边形穿刺轨迹,并进行了被动导航避障能力分析。结果:用于完成微创手术中活检、引流、抽吸、注射等诊疗任务。结论:为被动导航时关节型针的结构设计提供了有力的理论依据。Objective To make the needle finish a variety of tasks in a better way in minimally invasive surgery.Methods The structure of articulated needle was studied,which consisted of a head with a bevel-tip,several articulations and several sections.The movement pattern of the articulated needle under passive navigation was analyzed; the puncturing track of arc polygon about the articulated needle was given; the obstacle avoidance ability of passive navigation was analyzed.Results The research results provided a strong theoretical basis for the structure design of the articulated needle under passive navigation.Concluion It can be used to complete biopsy,drainage,pumping,injection treatment in minimally invasive surgery.

关 键 词：被动导航 关节型针 穿刺轨迹 避障 

分 类 号：TH789[机械工程—仪器科学与技术]