基于量纲分析和等效刚度法的套管柔性针弯曲特性研究

doi:10.3969/j.issn.1004-132X.2025.03.009

摘要/Abstract

摘要： 针对套管柔性针的精准穿刺控制问题，对套管柔性针的弯曲特性进行了探究。通过旋量理论和指数积方程建立了套管柔性针的运动学模型，提出了基于量纲分析理论和等效刚度法的套管柔性针弯曲特性分析方法，确定了影响针弯曲变形的参数，并采用函数回归方法确定了变曲率特性函数。变曲率特性实验表明系统误差在2 mm内，满足一般临床手术的精度要求，验证了套管柔性针的变曲率特性建模的精准性。

关键词: 微创介入手术, 套管柔性针, 运动学模型, 变曲率特性

Abstract: Aiming at the problems of precise insertion control of cannula flexible needles, the bending characteristics of the needles were studied. The kinematics model of the cannula flexible needles was established by means of the screw theory and the exponential product equation. The bending characteristic analysis method of the cannula flexible needles was proposed based on the dimensional analysis theory and the equivalent stiffness approach to identify the parameters affecting the bending deformations of the needles, and the variable-curvature characteristic function was determined by function regression method. The variable-curvature characteristic experiments were carried out, and the systematic error values are within 2 mm, which meets the accuracy requirements of general clinical surgery and the accuracy of the proposed the variable-curvature characteristic modeling for the cannula flexible needles is proved.

Key words: minimally invasive surgery, cannula flexible needle, kinematics model, variable-curvature characteristic

中图分类号:

TP242

赵燕江1, 2, 张鹤1, 钱程1, 张永德1. 基于量纲分析和等效刚度法的套管柔性针弯曲特性研究[J]. 中国机械工程, 2025, 36(03): 455-462.

ZHAO Yanjiang1, 2, ZHANG He1, QIAN Cheng1, ZHANG Yongde1. Research on Bending Characteristics of Cannula Flexible Needles Based on Dimensional Analysis and Equivalent Stiffness Method[J]. China Mechanical Engineering, 2025, 36(03): 455-462.

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链接本文: https://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2025.03.009

https://www.cmemo.org.cn/CN/Y2025/V36/I03/455

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