Steerable Needles(可操纵的针)研究综述
Steerable Needles 可操纵的针 - Path planning algorithms for steerable needles in medical applications must guarantee the anatomical obstacle avoidance, reduce the insertion length, and ensure the compliance with the needle kinematics. [1] Steerable needles are a promising technology for delivering targeted therapies in the body in a minimally-invasive fashion, as they can curve around anatomical obstacles and hone in on anatomical targets. [2] Steerable needles that are able to follow curvilinear trajectories and steer around anatomical obstacles are a promising solution for many interventional procedures. [3] Objectives: The clinical feasibility and potential of curved LiTT trajectories through steerable needles has yet to be investigated. [4] Proposed approaches to improve needle placement in interventional radiology include, but are not limited to, steerable needles and liver phantoms. [5] Particularly for drug delivery mechanisms, higher precision and the ability to follow complex trajectories in three dimensions (3D), has led to interest in flexible, steerable needles such as the programmable bevel-tip needle (PBN). [6] PurposeIn the context of minimally invasive neurosurgery, steerable needles such as the one developed within the Horizon2020-funded EDEN2020 project (Frasson et al. [7] Steerable needles can avoid blood vessels thanks to their ability to follow curvilinear paths, although knowledge of vessel pose is required. [8]医疗应用中可操纵针的路径规划算法必须保证避免解剖障碍,减少插入长度,并确保符合针运动学。 [1] 可操纵的针头是一种很有前途的技术,可以以微创方式在体内提供靶向治疗,因为它们可以绕过解剖障碍并瞄准解剖目标。 [2] 能够遵循曲线轨迹并绕过解剖障碍的可操纵针是许多介入手术的有前途的解决方案。 [3] 目的:通过可操纵针头的弯曲 LiTT 轨迹的临床可行性和潜力尚待研究。 [4] 改进介入放射学中针放置的建议方法包括但不限于可操纵针和肝脏模型。 [5] 特别是对于药物输送机制,更高的精度和遵循三维 (3D) 复杂轨迹的能力,已经引起了人们对灵活、可操纵的针头的兴趣,例如可编程斜角针头 (PBN)。 [6] 目的在微创神经外科手术的背景下,可操纵的针,例如在 Horizon2020 资助的 EDEN2020 项目中开发的一种(Frasson 等人。 [7] 可操纵的针头可以避开血管,因为它们能够遵循曲线路径,但需要了解血管姿势。 [8]