侧脑室穿刺术的力反馈仿真

侧脑室穿刺术为徒手操作手术，通常需要医师积累一定的手术经验才可实施，但由于其部位特殊而缺乏训练模型。其模拟重点在于穿刺手感的复现，本文通过将软组织与穿刺针交互过程产生的力分为三种力模拟穿刺力的层次感，从而极大程度上还原穿刺手感。特别的，在形变力分析中构建软组织形变模型并提出形变模型参数的转化方法，使形变模型的参数选取有理可循。在三种力的基础上提出穿刺力的力反馈计算模型，结合力反馈设备将其应用于侧脑室穿刺术中，使其更接近真实手感。最终通过收集并对比穿刺猪脑的穿刺力与力反馈穿刺力来验证该穿刺力反馈计算模型的真实性。实验证明，猪脑穿刺的穿刺力与虚拟穿刺穿刺力间的最大差值为17.25mN（<20mN），该误差人手较难感知，并且力的两次突变以及变化趋势具有较高的一致性。

Force feedback simulation of lateral ventricle puncture

Lateral ventricle puncture is a bare-hand operation, which usually requires a doctor to accumulate a certain amount of surgical experience before performing. However, it lacks training models due to its special location. Since the simulation focuses on the reproduction of the puncture feel, this paper divided the force generated by the interaction between the soft tissue and the puncture catheter into three forces to simulate the depth of puncture force, so as to restore the puncture feel to a great extent. In particular, the soft tissue deformation model was constructed in the deformation force analysis and the transformation method of the deformation model parameters was proposed to make the selection of the parameters of the deformation model reasonable. On the basis of the three forces, a force feedback calculation model of puncturing is proposed, and combined with force feedback equipment, it was applied to lateral ventricle puncture to make it closer to the real hand feeling. Finally, the authenticity of the puncture force feedback calculation model is verified by collecting and comparing the puncture force for puncturing the pig''s brain and the force feedback puncture force. The maximum difference between these two puncture force is within 20mN, and this error is difficult to be sensed by the hand. The experiment shows that the two sudden changes of the value and changing trends of the force have a high consistency.