穿刺软组织中针的受力形变仿真和偏差分析

为了提高机器人辅助针穿刺软组织的精度，减小穿刺误差，建立了柔性穿刺针的弹性梁物理模型，提出一种穿刺针受力分析的算法,并通过理论计算和 对模型进行仿真分析，得到了穿刺针元素结点的挠度和偏转角度，并验证了一致性和算法的正确性；通过对针尖施加不同大小的集中载荷进行仿真，仿真结果表明线弹刚性针的形变与施加在同一结点力的大小成线性关系。文中并就穿刺针的穿刺偏差原因，偏差模型进行相应的分析和介绍。

Deformation Simulation and Deviation analysis of Stabbing Needle in Soft Tissue

In order to reduce deflection of the stabbing needle and increase the accuracy of the robot-assisted needle insertion into soft tissue,a physical model of stabbing needle is built with elastic beam.A algorithm is put forward to analyze force added on stabbing needle and got the deflection and angle of element node.The theoretical calculation and experimental simulation show the validation and consistency of the algorithm.By acting at the bevel tip with different force,the relationship which between the needle’s deformation and force applied on the needle’s bevel tip is basically linear is got.The reason of needle deflection,and the model of deviation are also investigated and analyzed.