再穿刺における針先方向制御のための針剛性と組織抵抗を考慮した極細針たわみモデルの構築

抄録

It is important to aim for minimally invasive and highly efficient procedures with insertion robots. In this paper, we modeled the manual technique in order to introduce the puncture error correction method used in the manual procedure to the robot. In modeling, we considered that the state of the needle in the tissue is determined by the rotational motion of the needle and the mechanical interaction between the needle and the tissue. The tissue resistance was assumed to be an equivariant distributed load. To validate the model, we compared the shape of the needle bent in a PVC phantom with that of the model. The results showed that the error was less than 3 mm in all trials, which is within the acceptable range. This suggests the usefulness of the model presented in this study.