| 张 帆,何彦霖,周康鹏,祝航威,祝连庆.穿刺手术柔性针路径规划技术现状和展望[J].电子测量与仪器学报,2023,37(6):1-13 |
| 穿刺手术柔性针路径规划技术现状和展望 |
| Current situation and prospect of flexible needle path planning technology for puncture surgery |
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| DOI： |
| 中文关键词: 穿刺手术 柔性针 路径规划算法 术中规划 |
| 英文关键词:puncture surgery flexible needle path planning algorithm intraoperative planning |
| 基金项目:国家自然科学青年基金(61903041)、国家重点研发计划(2020YFA0711200)项目资助 |
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| Author | Institution |
| Zhang Fan | 1. Beijing Laboratory of Optical Fiber Sensing and System, Beijing Information Science & Technology University,2. Key Laboratory of the Ministry of Education for Optoelectronic Measurement Technology and Instrument, Beijing Information Science & Technology University |
| He Yanlin | 1. Beijing Laboratory of Optical Fiber Sensing and System, Beijing Information Science & Technology University,2. Key Laboratory of the Ministry of Education for Optoelectronic Measurement Technology and Instrument, Beijing Information Science & Technology University |
| Zhou Kangpeng | 1. Beijing Laboratory of Optical Fiber Sensing and System, Beijing Information Science & Technology University,2. Key Laboratory of the Ministry of Education for Optoelectronic Measurement Technology and Instrument, Beijing Information Science & Technology University |
| Zhu Hangwei | 1. Beijing Laboratory of Optical Fiber Sensing and System, Beijing Information Science & Technology University,2. Key Laboratory of the Ministry of Education for Optoelectronic Measurement Technology and Instrument, Beijing Information Science & Technology University |
| Zhu Lianqing | 1. Beijing Laboratory of Optical Fiber Sensing and System, Beijing Information Science & Technology University,2. Key Laboratory of the Ministry of Education for Optoelectronic Measurement Technology and Instrument, Beijing Information Science & Technology University |
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| 中文摘要: |
| 微创穿刺手术由于具有创伤小、恢复快等优势,近年来在临床上得到广泛应用,主要用来进行组织活检、局部消融和局
部麻醉等操作。 目前穿刺手术使用的手术器械是斜尖柔性针,相比较于刚性针,前者可以避开重要的器官和组织,对患者的损
伤较小。 在手术过程中,有效的路径规划算法可以辅助医生提高手术的安全性和准确性,现有的术中路径规划算法的误差在毫
米量级,限制了其在临床手术中的应用,亟待探讨解决方法。 为此,梳理了穿刺手术中柔性针的路径规划研究进展,分析了影响
路径规划的因素,对穿刺针的路径规划算法进行了详细的介绍,指出了当前需要解决的关键问题,最后从最优路径选择、参数反
馈以及术中实时路径规划方法等不同方面出发探讨了柔性针手术穿刺针路径规划的未来发展方向。 |
| 英文摘要: |
| Due to its advantages of small trauma and fast recovery, minimally invasive puncture surgery has been widely used in clinical
practice in recent years, mainly for tissue biopsy, local ablation and local anesthesia. At present, the surgical instruments used in
puncture surgery are oblique pointed flexible needles, which can avoid important organs and tissues and cause less damage to patients
than rigid needles. In the process of surgery, effective path planning algorithms can assist doctors to improve the safety and accuracy of
surgery, and the error of existing intraoperative path planning algorithms is in the order of millimeters, which limits its application in
clinical surgery, and solutions need to be explored. Therefore, the research progress of flexible needle path planning in puncture surgery
is sorted out, the factors affecting path planning are analyzed, the path planning algorithm of puncture needle is introduced in detail, the
key problems that need to be solved are pointed out, and finally the future development direction of path planning of flexible needle
surgical puncture needle is discussed from different aspects such as optimal path selection, parameter feedback and intraoperative realtime path planning method. |
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