| ZHANG Famin (张发敏)*,LEI Jingtao**.[J].高技术通讯(英文),2024,30(3):297~303 |
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| Study on the interactive deformation of bone needles and circum-pelvic soft tissue |
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| DOI：10. 3772 / j. issn. 1006-6748. 2024. 03. 009 |
| 中文关键词: |
| 英文关键词: pelvic fracture reduction, rigid-flexible coupling, needle-tissue interactive deformation |
| 基金项目: |
| Author Name | Affiliation | | ZHANG Famin (张发敏)* | ( * School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, P. R. China)
( ** Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai 200444 P. R. China) | | LEI Jingtao** | |
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| 中文摘要: |
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| 英文摘要: |
| During the robot-assisted pelvic fracture reduction, the needle-tissue interactive deformation
characteristic is not clear, which affects the accuracy of robotic surgery. In this paper, a layered rig-
id-flexible coupling model is proposed, and the needle-tissue interactive deformation under the load-
ing is analyzed by the Rayleigh-Ritz method, in accordance with the principle of minimum potential
energy. The pelvic musculoskeletal tissue is reversely reconstructed, and the structure of the bone is
segmented into cancellous bone and cortical bone. The Mooney-Rivlin five-parameter hyperelastic
model is used to simulate muscle, and the Ogden hyperelastic model is used to simulate adipose tis-
sue. Finite element simulation is performed by loading different magnitudes of forces. The accuracy
of the rigid-flexible coupling model is 0. 432 mm, which indicates the correctness of the needle-tis-
sue interactive deformation theory analysis. |
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