CN104720812B - Soft Tissue Deformation amount method for real-time measurement in the experiment of robot assisted flexibility pin puncture soft tissue - Google Patents
Soft Tissue Deformation amount method for real-time measurement in the experiment of robot assisted flexibility pin puncture soft tissue Download PDFInfo
- Publication number
- CN104720812B CN104720812B CN201310726491.3A CN201310726491A CN104720812B CN 104720812 B CN104720812 B CN 104720812B CN 201310726491 A CN201310726491 A CN 201310726491A CN 104720812 B CN104720812 B CN 104720812B
- Authority
- CN
- China
- Prior art keywords
- soft tissue
- tissue
- real
- deformation amount
- formula
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 210000004872 soft tissue Anatomy 0.000 title claims abstract description 57
- 238000005259 measurement Methods 0.000 title claims abstract description 22
- 210000001519 tissues Anatomy 0.000 claims abstract description 48
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 15
- 206010054949 Metaplasia Diseases 0.000 claims abstract description 13
- 230000015689 metaplastic ossification Effects 0.000 claims abstract description 13
- 239000002407 tissue scaffold Substances 0.000 claims abstract description 11
- 239000000463 material Substances 0.000 claims description 3
- 239000011148 porous material Substances 0.000 claims description 2
- 230000001131 transforming Effects 0.000 claims description 2
- 238000000691 measurement method Methods 0.000 claims 2
- 238000005516 engineering process Methods 0.000 abstract description 4
- 239000008358 core component Substances 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 241000338310 Pseudofabraea citricarpa Species 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 210000000056 organs Anatomy 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 210000000481 Breast Anatomy 0.000 description 1
- 206010022114 Injury Diseases 0.000 description 1
- 210000003734 Kidney Anatomy 0.000 description 1
- 210000004185 Liver Anatomy 0.000 description 1
- 210000002307 Prostate Anatomy 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000029578 entry into host Effects 0.000 description 1
- 230000001575 pathological Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000000699 topical Effects 0.000 description 1
Abstract
A kind of Soft Tissue Deformation amount method for real-time measurement, this method is tested for robot assisted flexibility pin puncture soft tissue, this method includes a Soft Tissue Deformation amount real-time measurement apparatus and a Soft Tissue Deformation amount real-time measurement algorithm, belongs to micro-wound surgical operation the field of medical instrument technology.The core component of described device is a six axle powers/torque sensor, remaining attachment includes that a rectangle tissue scaffold plate, round tissue pallet, a rectangular base plate for being used to fix sensor connecting with sensor bottom surface and a data collecting card being connected with transducer tip and computer, the computer contain signal processing software.The measuring device is fixed on tissue container bottom.Signal processing software includes a Tissue approximation power computational algorithm and a tissue deformation quantity computational algorithm.The two algorithms realize the real-time real-time record and display for reading and calling and organize deformation quantity of Tissue approximation power jointly, to realize the real-time display of the metaplasia amount in the experiment of pin puncture soft tissue.
Description
Technical field
The present invention relates to a kind of Soft Tissue Deformation amount method for real-time measurement, this method is used for robot assisted flexibility pin puncture
Soft tissue experiment, this method include that a Soft Tissue Deformation amount real-time measurement apparatus and a set of Soft Tissue Deformation amount real-time measurement are calculated
Method belongs to micro-wound surgical operation the field of medical instrument technology.
Background technique
Minimally invasive surgery (Minimally Invasion Surgery, MIS) is that develop rapidly in recent years one is fine
New technology, compared with traditional surgery, with local trauma is small, operating time is short, general reaction is light, organ function restores fast
Etc. excellent.By minimally invasive surgery study based on the medical robot that grows up and computer aided medicine surgical device and technology
Have become one of the application Some Questions To Be Researched being concerned.
Micro-wound surgical operation treatment in, puncture be it is most ancient, a most common surgical technic is widely used in living
Body tissue pathologic finding, topical remedy are delivered in the operation such as treatment of cancer.A large amount of surgical diagnosis, treatment and research require needle
It is punctured to specific target spot, wherein most of puncture target spots all concentrate on soft tissue organs (such as kidney, liver, prostate, breast),
And the main reason for influencing pin puncture precision is exactly to interact and cause between needle body and heterogeneous soft tissue in puncture process
Target position error.For this purpose, must just understand needle body during pin puncture to reduce the target position error of pin puncture
The deflection of interaction force and tissue between heterogeneous soft tissue.It is existing research shows that needle body during pin puncture
Interaction force between heterogeneous soft tissue includes frictional force between needle body and soft tissue and soft tissue to needle body
Extruding force.Wherein extruding force is the main reason for causing metaplasia, but the measurement of Tissue approximation power and deflection is one
A problem, the common method for obtaining Tissue approximation power has the following two kinds and the measurement of metaplasia amount is currently without suitably doing
Method:
(1) a six axle powers/torque sensor is installed on needle stand, organizes the extruding force to needle body according to lever principle meeting
A power contrary with extruding force is generated on needle stand, approximately thinks that here it is Tissue approximation power, but not by needle
The case where bending, considers the inside.
(2) one pressure sensor is installed in tissue container cassette bottom portion, one can be generated when pin puncture soft tissue downwards
Pressure, being approximately considered this pressure is exactly Tissue approximation power, and application condition is big.
In view of the method for above two measurement Tissue approximation power, having devised set of device and method can more accurately be measured
Tissue approximation power and and metaplasia amount is obtained indirectly and then deriving the relational expression of Tissue approximation power and metaplasia amount.
Summary of the invention
It is an object of the invention to design a kind of Soft Tissue Deformation amount method for real-time measurement, this method is used for robot assisted
Flexible pin puncture soft tissue experiment, enables Soft Tissue Deformation amount to display in real time on computer screen.
Technical scheme is as follows:
A kind of Soft Tissue Deformation amount method for real-time measurement, this method are real for robot assisted flexibility pin puncture soft tissue
It tests.It is characterized by: this method includes that a Soft Tissue Deformation amount real-time measurement apparatus and a Soft Tissue Deformation amount are surveyed in real time
Quantity algorithm.The Soft Tissue Deformation amount real-time measurement apparatus includes: the rectangle tissue scaffold plate (1) of center opening, round tissue support
Disk (2), rectangular base plate (3), six axis mechanics sensors (4), tissue container box (5), data collecting card (6) and computer (7).Its
In six axis mechanics sensor (4) tops with circle tissue pallet (2) be connected by screw to, six axis mechanics sensor (4) bottom surfaces with
Rectangular base plate (3) is connected by screw to；Rectangular base plate (3) is fixed on tissue container box (5) bottom by card slot mode；It opens at center
At the rectangle tissue scaffold plate (1) in hole and round tissue pallet (2) on the same center of circle and same plane, the rectangle group of center opening
It knits support plate (1) and is fixed on tissue container box (5) middle and lower part, the center pore radius of the rectangle tissue scaffold plate (1) of center opening
Greater than the radius of round tissue pallet (2) to guarantee that round tissue pallet (2) is unfettered in the horizontal plane；The device is fixed on
Tissue container box (5) bottom is used for the deflection of soft tissue during real-time measurement pin puncture soft tissue, and the data measured pass through
Data collecting card (6) is transmitted to computer (7), then by the signal processing software in computer (7) in conjunction with soft tissue shape
Variable real-time measurement algorithm, directly reading metaplasia amount, and allow deflection real-time display.
The algorithm of the invention for being further characterized in that Soft Tissue Deformation amount real-time measurement is as follows: (1) since soft tissue is glutinous bullet
Property material, so for tissue extruding force to bottom transmit when can due to organization internal consumption energy and reduce, that
Organize the extruding force F being substantially subjected toNF can be measured indirectly by the sensor of bottomN=KFN0(K > 1).K is one
Coefficient greater than 1, it is related with the diameter of needle and the position being needled into etc..(2) according to Kelvin's viscoelastic models, group is derived
It knits extruding force and organizes the relationship of deformation quantity, i.e.,
Detailed description of the invention
Fig. 1 is the device of the invention schematic diagram.
Fig. 2 is tissue stress and transmitting schematic diagram of the invention.
Fig. 3 is Kelvin's viscoelastic models figure of the invention.
Fig. 4 is functional flow diagram of the invention.
Specific embodiment
Fig. 1 is schematic device described in the invention patent.
Wherein appended drawing reference is as follows: the rectangle tissue scaffold plate 3 of six axis mechanics sensors 1, rectangular base plate 2, center opening
Pallet 4 is organized with circle.
Wherein rectangular base plate 2 and the bottom of six axis mechanics sensors 1 are fixed with bolt, and are held by sliding slot fixed to tissue
Device cassette bottom portion, the center-hole diameter of the rectangle tissue scaffold plate 3 of center opening are greater than the diameter of round tissue pallet 4, when assembly,
4 and 3 centre bore is concentric and wants in the same plane, and circle tissue pallet 4 is solid by bolt and six axis mechanics sensors 1
Fixed, tissue scaffold plate 3 is also to be fixed on tissue container box by sliding slot.
Fig. 2 is soft tissue stress described in the invention patent and transmitting schematic diagram.
Since soft tissue is the material of viscoelasticity, so the extruding force for tissue can be due to group when transmitting to bottom
It knits internal consumption energy and reduces, then organizing the extruding force F being substantially subjected toNIt is measured with bottom is transmitted to by measuring device
Pressure FN0Relationship have following expression:
FN=KFN0(K > 1) (1)
Formula (1) is the Tissue approximation power computational algorithm in signal acquisition process software, by computer programming calculation, i.e.,
Tissue approximation power can be directly obtained, and is stored into the data collecting card of computer, is called for metaplasia quantity algorithm.
Fig. 3 is Kelvin's viscoelastic models based on metaplasia amount computational algorithm described in invention patent
Schematic diagram.
Wherein it is as follows to calculate algorithmic derivation for metaplasia amount involved in attached drawing:
Following formula is obtained in conjunction with Kelvin's viscoelastic models formula according to the viscous-elastic behaviour of tissue.
Wherein: k, b are the coefficient of elasticity and the coefficient of viscosity of soft tissue respectively；X is the deformation quantity of tissue.
Laplace transform is carried out to formula (2) and obtains following formula
FN(s)=kx (s) (3)+bsx (s)
Convolution (3) and formula (4) obtain
Inverse Laplace transformation is carried out to formula (5), metaplasia amount x and Tissue approximation power F can be obtainedNRelational expression such as formula (6) institute
Show
Fig. 4 is the functional flow diagram of metaplasia amount real-time display of the present invention.
As shown in the picture, after pin puncture experiment starts, the force snesor of container bottom collects voltage signal, then
It obtains squeezing force data F in real time by the extruding force algorithm in Computer signal acquisition process softwareNAnd it is stored in data acquisition
In card, then in performance parameter k, b of software interface input tissue, called for the metaplasia amount computational algorithm in software, group
It knits Deformation calculation algorithm while calling the extruding force data F in capture cardNAnd the puncture time t of pin puncture experiment, pass through
Software calculation processing obtains the deflection of tissue, is then allowed to real-time display to computer interface.
Claims (1)
1. a kind of Soft Tissue Deformation amount method for real-time measurement, this method is tested for robot assisted flexibility pin puncture soft tissue,
This method includes a Soft Tissue Deformation amount real-time measurement apparatus, by the rectangle tissue scaffold plate (1) of center opening, circular group
Knit pallet (2), rectangular base plate (3), six axis mechanics sensors (4), tissue container box (5), data collecting card (6) and computer
(7) it forms, wherein six axis mechanics sensor (4) tops are connected by screw to circle tissue pallet (2), six axis mechanics sensors
(4) bottom surface is connected by screw to rectangular base plate (3)；Rectangular base plate (3) is fixed on tissue container box (5) bottom by card slot mode
Portion；The rectangle tissue scaffold plate (1) of center opening on the same center of circle at round tissue pallet (2) and same plane, open by center
The rectangle tissue scaffold plate (1) in hole is fixed on tissue container box (5) middle and lower part, the rectangle tissue scaffold plate (1) of center opening
Center pore radius is greater than the radius of round tissue pallet (2) to guarantee that round tissue pallet (2) is unfettered in the horizontal plane；It should
Device is used for the deflection of soft tissue during real-time measurement pin puncture soft tissue, and the data measured pass through data collecting card (6)
Computer (7) are transmitted to, are then calculated by the signal processing software in computer (7) in conjunction with Soft Tissue Deformation amount real-time measurement
Method, directly reading Soft Tissue Deformation amount, and allow deflection real-time display；
The measurement method has the following steps:
1) due to the material that soft tissue is viscoelasticity, so the extruding force for tissue can be due to tissue when transmitting to bottom
Internal consumption energy and reduce, then organizing the extruding force F being substantially subjected toNIt can be measured indirectly by the sensor of bottom
Its practical a formula for the extruding force is
FN=KFN0(K > 1) (1)
K is a coefficient greater than 1, related with the diameter of needle and the position being needled into；
2) formula in step 1 (1) is the computational algorithm of Tissue approximation power, is weaved into signal processing software, for soft
Metaplasia measures quantity algorithm and calls；
3) following formula is obtained in conjunction with Kelvin's viscoelastic models formula according to the Viscoelastic Properties of soft tissue；
Wherein: k, b are the coefficient of elasticity and the coefficient of viscosity of soft tissue respectively；X is the deflection of soft tissue；
Laplace transform is carried out to formula (2) and obtains following formula
FN(s)=kx (s) (3)+bsx (s)
Convolution (3) and formula (4) obtain
Inverse Laplace transformation is carried out to formula (5), Soft Tissue Deformation amount x and soft tissue extruding force F can be obtainedNRelational expression such as formula (6) shown in
Formula (6) is the algorithmic formula of Soft Tissue Deformation amount, and in formula: k, b are the coefficient of elasticity and the coefficient of viscosity of soft tissue respectively；
X is the deflection of soft tissue；FNFor soft tissue extruding force, can be obtained by step 1；
It 4), can be in needle in conjunction with Soft Tissue Deformation amount real-time measurement apparatus according to the Soft Tissue Deformation amount computational algorithm in step 3
Puncture the deflection for obtaining soft tissue in soft tissue experiment in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310726491.3A CN104720812B (en) | 2013-12-21 | Soft Tissue Deformation amount method for real-time measurement in the experiment of robot assisted flexibility pin puncture soft tissue |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310726491.3A CN104720812B (en) | 2013-12-21 | Soft Tissue Deformation amount method for real-time measurement in the experiment of robot assisted flexibility pin puncture soft tissue |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104720812A CN104720812A (en) | 2015-06-24 |
| CN104720812B true CN104720812B (en) | 2019-07-16 |
Family
ID=
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101522134A (en) * | 2006-06-05 | 2009-09-02 | 泰克尼恩研究和发展基金有限公司 | Controlled steering of a flexible needle |
| CN101569544A (en) * | 2008-04-29 | 2009-11-04 | 香港理工大学 | Detecting system for soft tissues of soles |
| CN102018575A (en) * | 2010-12-08 | 2011-04-20 | 清华大学 | Robot-assisted system and method for controlling flexible needle to puncture soft tissues in real time |
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101522134A (en) * | 2006-06-05 | 2009-09-02 | 泰克尼恩研究和发展基金有限公司 | Controlled steering of a flexible needle |
| CN101569544A (en) * | 2008-04-29 | 2009-11-04 | 香港理工大学 | Detecting system for soft tissues of soles |
| CN102018575A (en) * | 2010-12-08 | 2011-04-20 | 清华大学 | Robot-assisted system and method for controlling flexible needle to puncture soft tissues in real time |
Non-Patent Citations (2)
| Title |
|---|
| 基于虚拟弹簧模型的柔性针穿刺仿真研究;高德东等;《计算机工程》;20100930;第36卷(第18期);第275页右栏倒数第1段 |
| 肋软骨黏弹性函数拟合及广义Kelvin模型;张建国等;《北京生物医学工程》;20121231;第31卷(第6期);第562页右栏 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9480456B2 (en) | Image processing apparatus that simultaneously displays two regions of interest on a body mark, processing method thereof and storage medium | |
| CN103006195B (en) | Non-contact vital sign data monitoring system and non-contact vital sign data monitoring method on basis of image processing | |
| EP3487409B1 (en) | Ultrasound imaging apparatus with image selector | |
| US20230330507A1 (en) | Muscle training method and system for providing visual feedback by using ultrasonic imaging | |
| CN103687547A (en) | Ultrasound diagnostic device, image diagnostic device, image processing device, and program which is stored in computer-readable storage medium | |
| CN105764412B (en) | The natural frequencies analysis determined for left ventricular ejection fraction or stroke volume | |
| CN102988031A (en) | Remote pulse diagnosis apparatus | |
| CN109864719A (en) | Chinese medicine pulse testing and analysis system and method | |
| CN102908166B (en) | Scanning device and method for three-dimensional ultrasound elasticity imaging | |
| CN110338843A (en) | Tissue-estimating method, apparatus, equipment and computer readable storage medium | |
| CN109788942A (en) | The control method of diagnostic ultrasound equipment and diagnostic ultrasound equipment | |
| US20140270429A1 (en) | Parallelized Tree-Based Pattern Recognition for Tissue Characterization | |
| US20210065882A1 (en) | Method and system for prompting data donation for artificial intelligence tool development | |
| CN204600529U (en) | Elastomeric check equipment | |
| CN104720812B (en) | Soft Tissue Deformation amount method for real-time measurement in the experiment of robot assisted flexibility pin puncture soft tissue | |
| CN108720805A (en) | A kind of Soft Tissue Deformation amount method for synchronously measuring | |
| CN105902283A (en) | Glove-type ultrasonic probe | |
| CN109288510A (en) | A kind of pulse measurement device and method | |
| WO2016145605A1 (en) | Portable smart doppler ultrasound dynamic real-time monitoring device | |
| WO2019019922A1 (en) | System for noninvasively detecting immune state of transplanted kidney | |
| Mackensen et al. | Pro: Three-dimensional transesophageal echocardiography is a major advance for intraoperative clinical management of patients undergoing cardiac surgery | |
| Hollenstein et al. | Measuring the in vivo behavior of soft tissue and organs using the aspiration device | |
| CN110236652A (en) | Puncture needle enhances display device, method and storage medium | |
| Zhang et al. | Design and realization of TCM pulse analysis and management system | |
| Mari et al. | Needle-tip localization using an optical fibre hydrophone |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190716 Termination date: 20211221 |