项目名称： 基于生物力学的经导管介入手术触觉传感器接触机理与设计研究

项目编号： No.51505235

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 机械、仪表工业

项目作者： 申景金

作者单位： 南京邮电大学

项目金额： 20万元

中文摘要： 对于工作环境复杂的经导管介入手术，触觉传感器能有效地优化手术方案，提高手术的安全性。本课题借鉴三维力传感器的研究成果，基于生物组织的力学特性，开展经导管介入手术触觉传感器的接触机理与设计研究。首先，分析经导管介入手术的约束条件，提出与介入导管相匹配的触觉传感器的整体设计方案，并基于敏感元件的输入/输出关系，推导接触力的测量模型。其次，综合生物组织的力学性状及形态结构特点，研究生物组织的本构模型。然后，分析触觉传感器与生物组织的接触过程，推导小变形接触解析解，建立生物组织本构参数的测量模型；数值仿真研究大变形接触，确定触觉传感器的结构参数。最后，研制触觉传感器的实物样机，并进行离体组织实验。本课题所设计的触觉传感器能够测量三维接触力和生物组织的本构参数，同时具有较好的测量精度和生物相容性，可进一步推动触觉传感器在介入导管手术中的应用。

中文关键词： 触觉传感器；生物力学；本构模型；接触分析

英文摘要： For transcatheter interventional surgery with complex working environment, tactile sensor can effectively optimize surgery procedure and increase safety. Inspired by the research in three-dimensional force sensor and based on the mechanical properties of tissue, this project investigates the contact principle and design of the tactile sensor for transcatheter interventional surgery. First, after analyzing the constraints imposed by transcatheter interventional surgery, a design proposal of the tactile sensor suitable for catheter is presented. Meanwhile, in view of the input/output relation of sensing element, the model for measuring the contact force is derived. Second, the constitutive model of tissue is studied by combining its mechanical characteristic and morphological structural properties. Then, through the contact analysis between tactile sensor and tissue, the analytical solution for the infinitesimal-deformation contact is obtained to establish the measurement model of the tissue constitutive parameters, and the numerical simulation is applied for the finite-deformation contact to determine the optimal structural parameters of the tactile sensor. Finally, the tactile sensor prototype will be fabricated to conduct the in-vitro experiment. The tactile sensor proposed in this project can measure the three-dimensional contact force and the tissue constitutive parameters, yet being accurate and biocompatible. It can promote the tactile sensor application in transcatheter interventional surgery.

英文关键词： tactile sensor;biomechanics;constitutive model;contact analysis