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

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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

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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

杨景, 于凌涛, 王岚, 汤泽旭, 李艳辉

哈尔滨工程大学机电工程学院, 黑龙江 哈尔滨 150001

Preoperative Planning of a Celiac Minimally Invasive Surgery Robot Based on Feature Parameters and Double Collaboration Space

YANG Jing, YU Lingtao, WANG Lan, TANG Zexu, LI Yanhui

College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China

全文: PDF (1764 KB)   HTML (1 KB)   输出: BibTeX | EndNote (RIS) 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． 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      出版日期: 2017-02-28 1: 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. 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.         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. 链接本文:   http://robot.sia.cn/CN/10.13973/j.cnki.robot.2017.0230    或     http://robot.sia.cn/CN/Y2017/V39/I2/230