大曲率形变柔性针设计与交互风险具身感知方法OA

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.