Biomechanics Meets Robotics: Methods for Accurate and Fast Needle Targeting

生物力学与机器人技术的结合：准确快速的针瞄准方法

• 批准号: DP160100714
• 负责人: Prof Adam Wittek
• 金额: $ 34.7万
• 依托单位: The University of Western Australia
• 依托单位国家: 澳大利亚
• 项目类别: Discovery Projects
• 财政年份: 2016
• 资助国家: 澳大利亚
• 起止时间: 2016-01-01 至 2022-03-31
• 项目状态: 已结题
• 来源: https://dataportal.arc.gov.au/RGS/Web/Grants/DP160100714
• 关键词: Biomechanics; Meets; Robotics; Methods; Accurate

This project intends to create a novel integrated framework for biomedical systems that can accurately target a needle. Accurate surgical targeting means less trauma and better patient outcomes. Needles are used in over half of all surgical procedures, but up to 38 per cent of these are affected by targeting errors. Achieving sub-millimetre accuracy is extremely difficult because inserting a needle displaces the tissue and moves the target. How, then, can ultra-fine targeting be achieved? This project plans to integrate non-linear biomechanical models that predict tissue motion with accurate and principled motion control. It seeks to create new methods for surgical robots that will predict target motion and guide a needle to accurately intersect the target.

该项目旨在为可以准确针对针头的生物医学系统创建一个新颖的集成框架。准确的手术靶向意味着更少的创伤和更好的患者预后。针头用于所有手术程序的一半以上，但其中多达38％的针头受到靶向错误的影响。实现亚毫米准确度非常困难，因为插入针头置换组织并移动目标。那么，如何实现超细靶向？该项目计划整合非线性生物力学模型，这些模型可以通过准确和主要的运动控制来预测组织运动。它试图为手术机器人创建新方法，以预测目标运动并指导针头准确地相交目标。