杨景, 于凌涛, 王岚, 汤泽旭, 李艳辉. 基于特征参数与双协作空间的腹腔微创手术机器人术前规划[J]. 机器人, 2017, 39(2): 230-238.DOI: 10.13973/j.cnki.robot.2017.0230.
YANG Jing, YU Lingtao, WANG Lan, TANG Zexu, LI Yanhui. Preoperative Planning of a Celiac Minimally Invasive Surgery Robot Based on Feature Parameters and Double Collaboration Space. ROBOT, 2017, 39(2): 230-238. DOI: 10.13973/j.cnki.robot.2017.0230.
Abstract:For the preoperative planning problems of robot-assisted minimally invasive surgery, a multi-objective pre-operative planning algorithm is proposed. On the basis of ensuring the enough collaboration space of the instrument arms in abdominal cavity, movement interference among them is avoided as much as possible. Firstly, the mathematical model of the artificial pneumoperitoneum is established, and the optimal incision location is obtained based on the feature parameters of lesion. Secondly, the index of collaboration space outside abdominal cavity is established based on the cylinder bounding box, and the optimal placement angle of the robot is obtained according to the double collaboration space index composed of the collaboration spaces inside and outside abdominal cavity. Finally, the implementation process of the algorithm is described in detail with a set of given lesion parameters, and the optimal incision position and the placement angle are obtained by the algorithm.
[1] 中华医学会外科学会分会腹腔镜与内镜外科学组.腹腔镜肝脏切除手术操作指南[J].中国实用外科杂志,2010,30(8):669-671.Laparoscopic and Endoscopic Surgery Group, the Surgery Branch, Chinese Medical Association. Operational guidelines for liver resection surgery by using laparoscopic[J]. Chinese Journal of Practical Surgery, 2010, 30(8):669-671.
[2] Sun L W, Yeung C K. Port placement and pose selection of the da Vinci surgical system for collision-free intervention based on performance optimization[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA:IEEE, 2007:1951-1956.
[3] Pick D L, Lee D I, Skarecky D W, et al. Anatomic guide for port placement for DaVinci robotic radical prostatectomy[J]. Journal of Endourology, 2004, 18(6):572-575.
[4] Cestari A, Buffi N M, Scapaticci E, et al. Simplifying patient positioning and port placement during robotic-assisted laparoscopic prostatectomy[J]. European Urology, 2010, 57(3):530-533.
[5] Ferzli G S, Fingerhut A. Trocar placement for laparoscopic abdominal procedures:A simple standardized method[J]. Journal of the American College of Surgeons, 2004, 198(1):163-173.
[6] Sun L W, van Meer F, Schmid J, et al. Advanced da Vinci surgical system simulator for surgeon training and operation planning[J]. International Journal of Medical Robotics and Computer Assisted Surgery, 2007, 3(3):245-251.
[7] Bauernschmitt R, Feuerstein M, Traub J, et al. Optimal port placement and enhanced guidance in robotically assisted cardiac surgery[J]. Surgical Endoscopy and Other Interventional Techniques, 2007, 21(4):684-687.
[8] Hayashibe M, Suzuki N, Hashizume M, et al. Preoperative planning system for surgical robotics setup with kinematics and haptics[J]. International Journal of Medical Robotics and Computer Assisted Surgery, 2005, 1(2):76-85.
[9] 马如奇,王伟东,董为,等.基于改进梯度投影算法的腹腔微创外科手术机器人系统术前摆位分析[J].机器人,2014,36(2):156-163.Ma R Q, Wang W D, Dong W, et al. Preoperative positioning analysis of the celiac minimally invasive surgery robotic system based on an improved gradient projection algorithm[J]. Robot, 2014, 36(2):156-163.
[10] Yu L T, Wang Z Y, Sun L Q, et al. Research on preoperative positioning analysis of instrument arms for minimally invasive surgical robot[C]//IEEE International Conference on Mechatronics and Automation. Piscataway, USA:IEEE, 2014:1269-1275.
[11] 闫志远,杜志江,吴冬梅.基于仿真的外科手术机器人术前引导优化[J].机器人,2014,36(3):300-308.Yan Z Y, Du Z J, Wu D M. Preoperative guidance optimization of surgical robot based on simulation[J]. Robot, 2014, 36(3):300-308.
[12] 闫志远,杜志江,吴冬梅.手术机器人运动再现及最优布置系统[J].西安交通大学学报,2013,47(12):116-122.Yan Z Y, Du Z J, Wu D M. Motion simulation and optimal position system of surgical robots[J]. Journal of Xi'an Jiaotong University, 2013, 47(12):116-122.
[13] 王伟,王伟东,董为,等.基于协作空间与灵巧度的机器人辅助微创手术术前规划算法[J].机器人,2016,38(2):208-216.Wang W, Wang W D, Dong W, et al. A preoperative planning algorithm based on dexterity and collaboration space for the robot-assisted minimally invasive surgery[J]. Robot, 2016, 38(2):208-216.
[14] Adhami L, Coste-Maniere E. Optimal planning for minimally invasive surgical robots[J]. IEEE Transactions on Robotics and Automation, 2003, 19(5):854-862.
[15] 陈训如.腹腔镜术中如何安全建立气腹[J].腹部外科,1999,12(1):12-13.Chen X R. How to establish pneumoperitoneum safely in laparoscopic surgery[J]. Journal of Abdominal Surgery, 1999, 12(1):12-13.
[16] 蔡俊锋.机器人心脏手术中计算机辅助术前规划系统的研究[D].上海:复旦大学,2007.Cai J F. Study of computer aid preoperative planning system in robot-assisted cardiac surgery[D]. Shanghai:Fudan University, 2007.
[17] Yu L T, Wang Z Y, Yu P, et al. A new kinematics method based on a dynamic visual window for a surgical robot[J]. Robotica, 2014, 32(4):571-589.