The robot-assisted insertion surgery plays a crucial role in biopsy and therapy. This study focuses on determining the optimum puncture pattern for robot-assisted insertion, aiming at the matching problem of needle insertion parameters, thereby to reduce the pain for patients and to improve the reachability to the lesion point. First, a 6-degrees of freedom (DOFs) Computed Tomography (CT)-guided surgical robotic system for minimally invasive percutaneous lung is developed and used to perform puncture experiments. The effects of four main insertion factors on the robotic puncture are verified by designing the orthogonal test, where the inserting object is the artificial skin-like specimen with high transparent property and a digital image processing method is used to analyze the needle tip deflection. Next, the various phases of puncture process are divided and analyzed in detail in view of the tissue deformation and puncture force. Then, short discussion on the comparison of puncture force with different effect factors for the same beveled needle is presented. The same pattern can be observed for all of the cases. Finally, based on the experimental data, the formulations of the puncture force and needle deflection which depends on Gauge size, insertion velocity, insertion angle, and insertion depth are developed using the multiple regression method, which can be used to get an optimum puncture pattern under the constrains of minimum peak force and minimum needle tip deflection. The developed models have the effectiveness and applicability on determining the optimum puncture pattern for one puncture event, and which can also provide insights useful for the setting of insertion parameters in clinical practice.

机器人辅助的插入手术在活检和治疗中起着至关重要的作用。本研究着眼于确定机器人辅助穿刺的最佳穿刺模式，针对穿刺参数的匹配问题，从而减轻患者的痛苦，提高对病变点的可达性。首先，开发了用于微创经皮肺的 6 自由度 (DOF) 计算机断层扫描 (CT) 引导的手术机器人系统，并用于进行穿刺实验。通过设计正交试验验证了四个主要插入因素对机器人穿刺的影响，其中插入对象为具有高透明性的人造类皮肤标本，并采用数字图像处理方法分析针尖偏转。下一个，针对组织变形和穿刺力，对穿刺过程的各个阶段进行了详细的划分和分析。然后，简要讨论了相同斜面针的穿刺力与不同影响因素的比较。对于所有情况都可以观察到相同的模式。最后，基于实验数据，使用多元回归方法开发了取决于仪表尺寸、插入速度、插入角度和插入深度的穿刺力和针头偏转的公式，可用于获得最佳穿刺模式在最小峰值力和最小针尖偏转的约束下。所开发的模型对于确定一次穿刺事件的最佳穿刺模式具有有效性和适用性，