刘少丽, 陈恳, 吴丹, 徐静. 医疗机器人大肿瘤多针穿刺手术规划[J]. 机器人, 2013, 35(6): 692-702. DOI: 10.3724/SP.J.1218.2013.00692
引用本文: 刘少丽, 陈恳, 吴丹, 徐静. 医疗机器人大肿瘤多针穿刺手术规划[J]. 机器人, 2013, 35(6): 692-702. DOI: 10.3724/SP.J.1218.2013.00692
LIU Shaoli, CHEN Ken, WU Dan, XU Jing. Multi-needle Surgical Planning for Medical Robot in Large Tumour Therapy[J]. ROBOT, 2013, 35(6): 692-702. DOI: 10.3724/SP.J.1218.2013.00692
Citation: LIU Shaoli, CHEN Ken, WU Dan, XU Jing. Multi-needle Surgical Planning for Medical Robot in Large Tumour Therapy[J]. ROBOT, 2013, 35(6): 692-702. DOI: 10.3724/SP.J.1218.2013.00692

医疗机器人大肿瘤多针穿刺手术规划

Multi-needle Surgical Planning for Medical Robot in Large Tumour Therapy

  • 摘要: 医疗机器人辅助治疗肝脏大肿瘤多针手术规划要求消融针的穿刺路径避开腹腔内的肋骨以及血管等重要组织器官以及已穿刺的消融针.本文根据机器人肝肾囊肿穿刺的单针临床手术流程,提出了机器人辅助大肿瘤治疗的多针手术流程和多针手术规划应具备的功能.基于消融针的避障可达作业空间边界,提出了机器人多针手术规划的核心算法及优化准则.在仿真实验中成功求解出了腹腔内存在肋骨、血管及已穿刺的消融针等障碍物的消融针避障可达作业空间边界,并成功规划了多针手术的进针策略,实现了预穿刺消 融针的穿刺路径不与障碍物相干涉,且对病人造成的创伤最小的规划目标.

     

    Abstract: The constraint of the multi-needle surgical planning of the robot-assisted liver cancer coagulation therapy system for the large liver cancer therapy is that the path of the needle should avoid the ribs and blood vessels and other tissues in the abdominal cavity and also should avoid interfering with the inserted needle. Based on the single needle operation process of liver and kidney cyst puncture, a multi-needle surgical process is designed and the necessary functions for the medical robot in large tumor therapy are listed. And based on the boundary of the needle's collision-free reachable workspace, the core algorithm and the optimization criterion of multi-needle surgical planning are proposed. In the simulation experiments, the boundaries of needle's collision-free reachable workspace are successfully solved, when there are ribs, blood vessels, and inserted needles in celiac, and a multi-needle surgical strategy is achieved, which ensures the needle insertion path does not interfere with obstacles, and minimizes the injure to the patient.

     

/

返回文章
返回