摘要
机器人辅助微创手术,因其低侵袭性而变得越来越普遍。然而,因定向障碍和缺乏导航信息限制了其在经自然腔道手术的进一步应用。自然腔道解剖结构复杂,机器人末端的手术器械易损伤周围血管和神经。本研究设计了一种智能控制导航手术机器人系统,使用可靠和安全的定位技术、7自由度机械臂以及避免关节角度限制的逆运动学控制策略,以实现高灵活度的机械臂控制。基于患者术前影像进行手术导航与手术规划,并通过阻抗柔顺控制将患者与手术器械的接触力限制在一定范围内,实现保护患者的正常组织。为了提高手术精度并缓解医生的手术强度,智能语音控制实现术中手术器械位置和姿态的微小调整。基于体模和尸头实验进行系统的有效性验证。结果显示,本系统的定位误差小于1 mm,轨迹追踪角度误差小于2.5°,术中导航可进行实时手术靶点与器械跟踪,阻抗柔顺控制可将手术器械与患者之间的接触力降低在1.2 N以下,基于语音识别的精细调控可以满足术中对手术器械运动控制的要求。本研究的结果初步表明,所设计的手术机器人系统在机器人辅助微创手术中具有潜在的应用前景。
Robot-assisted minimally invasive surgery has become more and more popular due to its low invasiveness.However,the disorientation and lack of navigational information limit its further applications in natural orifice surgery.Due to the slender and complicated anatomical structure,the surgical instruments of the robotic end effector are prone to injure surrounding tissues during surgical approaches.An intelligent control and navigational surgical robot system was proposed in this paper.The system featured clinical considerations and was designed to provide reliable and safe preoperative and intraoperative positioning.The inverse kinematics strategy with avoiding joint angle limitation ensured that the 7-DOF robot could achieve high flexibility and strong mobility.The system utilized preoperative CT or MRI data of patients for surgical navigation and surgical planning,simultaneously,to avoid damaging the normal tissue of the patient,a compliance control strategy was introduced to control the interaction force between the patient and the surgical instruments to a small range.To improve the surgical accuracy and relieve the doctor′s workload,the intelligent voice control module realized the micro adjustment of surgical instruments.Phantom and cadaver studies were both conducted to evaluate the effectiveness of the proposed system.The experiments results showed that the positioning error of this system was less than 1 mm,and the tracking angle error was less than 2.5°.Intraoperative navigation can perform real-time surgical target and instrument tracking,and impedance compliance control reduced the contact force between surgical instruments and patients below 1.2 N.Fine tuning based on speech recognition could meet the requirements of intraoperative motion control of surgical instruments.In conclusion,the designed system has broad application prospects in robot-assisted minimally invasive surgery.
作者
王杰
陈欣荣
宋志坚
Wang Jie;Chen Xinrong;Song Zhijian(Academy for Engineering&Technology,Hehai University,Shanghai 200433,China;Shanghai Key Laboratory of Medical Image Computing and Computer Assisted Intervention,Shanghai 200032,China;Digital Medical Research Center,School of Basic Medical Science,Hehai University,Shanghai 200032,China)
出处
《中国生物医学工程学报》
CAS
CSCD
北大核心
2024年第4期455-466,共12页
Chinese Journal of Biomedical Engineering
基金
国家自然科学基金(62076070)
上海市徐汇区人工智能医疗院地合作项目(2021-008)。
关键词
微创手术
手术机器人
手术导航
柔顺控制
智能控制
minimally invasivesurgerys
urgicalrobot
surgical navigation
compliancecontrol
intelligent control
