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

doi:10.13973/j.cnki.robot.2017.0230

摘要
图/表
参考文献
相关文章 (15)

全文: PDF (1764 KB) HTML ( ) 输出: BibTeX \| EndNote (RIS)
引用本文:
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.

摘要针对机器人辅助微创手术术前规划困难的问题，提出一种多目标术前规划优化算法，该算法在保证持械臂在腹腔内有足够的协作空间的基础上，尽可能地避免了运动干涉．首先建立人工气腹的数学模型，并基于病灶特征参数得到最优手术切口位置．其次，基于圆柱体包围盒，建立腹腔外协作空间指标，通过腹腔内协作空间与腹腔外协作空间的双协作空间评价指标，得到机械臂最优摆位角度．最后，结合给定的一组病灶参数阐述算法的实现流程，通过该算法得到了在该病灶参数下最优的手术切口位置和摆位角度．

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	杨景
	于凌涛
	王岚
	汤泽旭
	李艳辉

关键词 ：手术机器人, 特征参数, 碰撞检测, 协作空间, 术前规划

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.

Key words： surgical robot feature parameter collision detection collaboration space preoperative planning

收稿日期: 2016-12-14 录用日期: 2017-02-27

TP24

基金资助:国家自然科学基金（61203358/F0306）；黑龙江省自然科学基金（F2015034）

通讯作者: 于凌涛,yulingtao@163.com E-mail: yulingtao@163.com

作者简介: 杨景(1989-),男,博士生.研究领域:腹腔手术机器人,虚拟手术.
于凌涛(1977-),男,博士,副教授.研究领域:腹腔手术机器人,并联机器人,虚拟手术.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2017.0230 或 https://robot.sia.cn/CN/Y2017/V39/I2/230

[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.