Study on the Control Method and Optimization Experiment of Prostate Soft Tissue Puncture

Abstract

In the treatment of prostate cancer patients, surgery of radioactive seed implantation with the puncture robots is an effective treatment method. However, when the puncture needle enters the lesion tissue, there are complicated forces between the needle body and the soft tissue, which leads to the drift of the prostate and the deflection of the puncture needle, thereby affecting the puncture accuracy. In order to improve the positioning accuracy and ensure the best treatment effect, a sine rotation continuous puncture control method was proposed in this paper. First, by analyzing the interaction between the puncture needle and the soft tissue, the force balance equation and the deflection equation were established, according to the equations, it could be known that puncture friction is the main factor affecting the deflection of the puncture needle. Second, combined with the influence of puncture friction and the research on the theory of rotation puncture, the sine rotation puncture method was compared with the direct puncture method and the existing rotation puncture method; Observed with a 4D Color Doppler Ultrasound to verify the feasibility of the rotating puncture theory and the effectiveness of the sine rotation puncture method. Third, through the establishment of Euler Beam model, rotation angle analysis and puncture velocity test analysis, the influence of dynamic parameters of this method on the puncture accuracy was discussed, the optimization range of each factor was obtained; The experiment was designed by the quadratic regression orthogonal combination theory, the experiment process was observed and recorded by a 3D X-ray scanner, the regression equations were established between experiment factors and experiment indicators with the Design-Expert, and the best parameter combinations were acquired through optimization. Last, comparison tests and verification test were carried out to verify the rationality and reliability of the optimized sine rotation puncture control method.

Modeling and Analysis of Prostate Soft Tissue Puncture Performance using Puncture Needle

“…To approximate the real prostate soft tissue, the bionic soft tissue model used in this experiment was made according to the requirements in ref. [9] (the elastic modulus parameters are consistent).…”

“…The silicone bionic soft tissue used in the experiment was made according to ref. [9] (it is required to approximate the elastic modulus value of human prostate soft tissue as closely as possible), and a lot of this bionic soft tissue will be used in multiple puncture experiments. Therefore, the elastic moduli of the bionic soft tissues with each other will inevitably have slight differences in mass fabrication.…”

“…Presently, the study of prostate soft tissue puncture experiments generally uses silica gel as a bionic soft tissue model [9,31]. Therefore, this experiment used XB-0920 type silica gel from Xubai New Material Co., Ltd., as shown in Figure 5(a).…”

“…Radioactive seed implantation surgery is an important method for the treatment of prostate cancer. Compared with systemic chemotherapy, immunotherapy, external radiotherapy, and surgical treatment, this method offers the advantages of low soft tissue damage, high surgical safety, and reproducibility [9]. Therefore, radioactive seed implantation surgery has become the main method for the treatment of prostate cancer [10].…”

A review of the research progress of interventional medical equipment and methods for prostate cancer

“…To ensure the accuracy of puncture, parameters such as rotation frequency, rotation angle, and puncture speed were analysed and optimized, and soft-tissue puncture tests of pig kidneys were carried out, which verified the rationality and accuracy of this method. 108 The research progress of automatic interventional medical devices is arranged according to the published year, as shown in Table 3.…”