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

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.