机器人2026，Vol.48Issue(4)：737-744,8.DOI:10.13973/j.cnki.robot.260078
大曲率形变柔性针设计与交互风险具身感知方法
High-curvature Flexible Needle Design and Embodied Perception Method for Interaction Risk Assessment
摘要
Abstract
Intracranial intervention in brain tissue requires flexible needles with high-curvature deformation capability for dexterous steering,but excessive curvature may cause interaction risks such as tissue rupture.This contradiction consti-tutes the core challenge for flexible needles in pursuing high-curvature deformation while ensuring safe operation,necessita-ting both an embodied new morphology with dexterous and safe operation capabilities and an embodied perception ability for risk assessment.This study proposes a three-layer coaxial progressive flexible needle featuring a bevel-tip and torque-transmitting sheath coupling structure,synergistically utilizing the passive steering feature of bevel tip and the high torsion and low bending stiffness features of transmitting sheath to achieve high-curvature deformation.An interaction state per-ception mechanism based on strain energy variation is integrated with fiber Bragg grating shape reconstruction,enabling real-time detection of interfacial mechanical state transition risks.Gelatin puncture experiments demonstrate that the proposed needle achieves a maximum curvature of 0.022 1 mm-1 with real-time quantitative feedback of needle-tissue interaction state.This study provides a flexible intervention solution for minimally invasive neurosurgery with both dexterous operation and interaction risk assessment capabilities.关键词
柔性针/具身形态/大曲率形变/具身感知/交互风险评估Key words
flexible needle/embodied morphology/high-curvature deformation/embodied perception/interaction risk assessment引用本文复制引用
李杰,袁吴越,何啸,张恩昊,潘鹏宇,高旭,梁国标,刘浩..大曲率形变柔性针设计与交互风险具身感知方法[J].机器人,2026,48(4):737-744,8.基金项目
国家自然科学基金(62003226) （62003226）
辽宁省兴辽英才计划(XLYC2202015) （XLYC2202015）
辽宁省科学技术计划(2024JH2/102400049). （2024JH2/102400049）
