Adaptive Step Puncture Strategy Based on Online Identification of Tissue Shore Hardness

The accuracy of puncture has a significant impact on hr achy therapy. However, when the puncture needle enters the diseased tissue, there are complex forces between the needle body and soft tissue, resulting in the deflection of the puncture needle, which affects the puncture accuracy. In order to improve the positioning accuracy and ensure better treatment effect, an adaptive step puncture strategy based on force feedback was proposed in this paper. Firstly, according to the process of brachytherapy, the mechanism design and control system design of puncture end tool were carried out. Secondly, combined with the end tool, the data acquisition platform was designed, the data acquisition and analysis were completed, and an adaptive step puncture strategy was proposed according to the experimental data. Finally, the experimental verification was carried out by using layered silica gel in the built data acquisition platform. Experiments showed that the adaptive step puncture strategy proposed in this paper significantly improves the puncture accuracy compared with direct puncture.