颅颌面穿刺诊疗手术机器人关键技术研究
发布时间：2018-08-06 18:39
【摘要】：穿刺手术具有创伤小、出血少、疼痛轻、恢复快等优点,在介入治疗、活检等领域应用广泛。但是,由于颅颌面解剖结构复杂、血管神经集中,医生手工穿刺手术时易损伤重要的血管神经,手术难度大、风险高。医疗手术机器人的发展为解决这个难题,提供了可行的技术手段。本文依托国家高技术研究发展计划(863计划)项目“颅底及面侧深区疾病精确微创诊疗机器人系统”,针对目前颅颌面穿刺手术存在的问题,研制可以辅助医生实施颌面肿瘤穿刺活检、颌面肿瘤放射性粒子植入和颅底三叉神经痛射频热凝三种手术的诊疗手术机器人系统。本文主要围绕颅颌面穿刺诊疗手术机器人系统的关键技术展开,重点研究了颅颌面穿刺诊疗手术机器人的机构设计与优化、基于力反馈的主从控制系统设计与实现、机器人运动学分析与轨迹规划、软组织穿刺斜偏控制以及实验研究等。具体的创新工作如下:第一,针对手术临床需求,在综合考虑各种机器人构型的基础上,提出了一种面向颌面肿瘤穿刺活检、颌面肿瘤放射性粒子植入和颅底三叉神经痛射频热凝三种手术应用的“一主体,三末端”的穿刺诊疗手术机器人方案,并分析了其正、逆运动学和工作空间,验证了机器人设计的合理性。研制了一套具有自主知识产权的颅颌面穿刺诊疗手术机器人系统样机。经一系列实验验证,颅颌面穿刺诊疗手术机器人样机平台能够满足三种穿刺手术对机器人稳定操作、精确定位、平稳穿刺的要求。第二,根据临床需求和机器人构型,给出了颅颌面穿刺诊疗手术机器人控制系统的功能要求,提出了一种基于CAN总线技术的分布式主从力反馈控制系统,并对整个控制系统进行了详细设计和实现。根据机器人双向力反馈的需要,提出了一种基于笛卡尔空间的逆雅克比主从控制方法和积分分离PID控制算法,并从系统的角度分析了整个机器人系统的安全性,建立了一种实用的多层安全监控模型。经验证,整个控制系统达到了设计要求,为医疗手术机器人研发提供了技术借鉴。第三,穿刺针和软组织之间的相互作用导致穿刺斜偏是引起穿刺误差的主要原因之一,也是穿刺过程中普遍存在的问题。针对这个问题,本文分析了穿刺针与软组织的相互作用,在此基础上,对穿刺针弯曲引起的斜偏进行了定量估计,给出了估计方程,并提出了一种局部细化的软组织变形仿真模型。在穿刺路径规划时,对目标靶点的漂移量进行了预测补偿。通过分析蚊子口针刺入皮肤的过程,基于蚊子口针振动穿刺的规律,提出了一种基于仿生行为的穿刺斜偏控制方法,在此基础上设计了振动穿刺装置,并进行了实验分析,验证了该技术的有效性。最后,对研制的颅颌面穿刺诊疗手术机器人系统进行了误差分析,给出了减小机器人误差的措施,并对机器人进行了参数标定和误差补偿。对标定后的机器人样机,进行了重复定位精度测试、绝对定位精度测试,并通过联调实验,模拟颌面肿瘤放射性粒子植入手术实验以及头颅穿刺实验,验证了整个系统的有效性,为形成稳定、安全、可靠的手术机器产品,夯实了基础。
[Abstract]:The puncture operation has the advantages of small trauma, less bleeding, less pain and quick recovery. It is widely used in the fields of interventional therapy and biopsy. However, because of the complex anatomy of the craniofacial anatomy and the concentration of vascular nerve, the doctor's manual puncture operation can easily damage the important vascular nerve, the operation is difficult and the risk is high. The development of the medical operation robot is solved this Based on the national high technology research and development program (863 plan), this paper is based on the "precise and minimally invasive diagnosis and treatment robot system for the skull base and the facial deep area". In view of the problems existing in the craniofacial puncture operation, we can assist the doctors to carry out the biopsy of the maxillofacial tumor and the radioactive particles of the maxillofacial tumor. This paper mainly focuses on the key techniques of the craniofacial surgery robot system, focusing on the design and optimization of the craniofacial puncture diagnosis and treatment robot, and the design and implementation of the master and slave control system based on the force feedback, which are the key techniques of the craniofacial puncture diagnosis and treatment of the robot system. Robot kinematics analysis and trajectory planning, soft tissue puncture skew control and experimental research. The specific innovative work is as follows: firstly, on the basis of the comprehensive consideration of various robot configurations, a kind of maxillofacial tumor puncture biopsy, radioactive particle implantation of maxillofacial tumor and trigeminal nerve of the skull base on the clinical needs of the surgery. The "one body, the three end" of the three kinds of surgical procedures used to diagnose and treat the operation robot, and analyze its positive, inverse kinematics and working space, and verify the rationality of the robot design. A set of robotic system prototype with independent intellectual property right for craniofacial puncture diagnosis and treatment is developed. The prototype platform of craniofacial puncture diagnosis and treatment operation robot can meet the requirements of three kinds of puncture operation for stable operation, accurate positioning and smooth puncture. Second. According to the clinical requirements and robot configuration, the work requirements of the robot control system for craniofacial puncture diagnosis and treatment are given, and a kind of CAN bus technology is proposed. The whole control system is designed and implemented in detail. According to the needs of the bidirectional force feedback of the robot, an inverse Jacobian master and subordinate control method and an integral separation PID control algorithm based on Cartesian space are proposed, and the security of the whole robot system is analyzed from the angle degree of the system. A practical multi-layer security monitoring model is used. It is proved that the whole control system has reached the design requirements and provides a technical reference for the research and development of medical operating robot. Third, the interaction between needle and soft tissue leads to puncture deviation is one of the main causes of puncture error, and it is also a common problem in the process of puncture. In this paper, the interaction between the needle and the soft tissue is analyzed. On this basis, the skew deviation caused by the needle bending is quantitatively estimated, the estimation equation is given, and a soft tissue deformation simulation model with local refinement is proposed. The drift of the target target is predicted and compensated when the puncture path is ruled. By analyzing the process of needle puncture in the skin of mosquitoes, based on the law of the needle vibration puncture of the mosquito mouth needle, a method of deviation control based on the bionic behavior was put forward. On this basis, a vibration puncture device was designed, and the experimental analysis was carried out to verify the effectiveness of the technique. Finally, the developed craniofacial puncture diagnosis and treatment machine was developed. The error analysis of the human system is carried out, the measures to reduce the robot's error are given, and the parameters of the robot are calibrated and the error is compensated. The accuracy test of the repeated positioning, the absolute positioning accuracy test, and the simulation of the radioactive particle implantation and head of the maxillofacial tumor are carried out. The puncture test verified the effectiveness of the whole system, and laid a solid foundation for forming a stable, safe and reliable surgical machine product.
【学位授予单位】：北京理工大学
【学位级别】：博士
【学位授予年份】：2015
【分类号】：TP242.3
[Abstract]:The puncture operation has the advantages of small trauma, less bleeding, less pain and quick recovery. It is widely used in the fields of interventional therapy and biopsy. However, because of the complex anatomy of the craniofacial anatomy and the concentration of vascular nerve, the doctor's manual puncture operation can easily damage the important vascular nerve, the operation is difficult and the risk is high. The development of the medical operation robot is solved this Based on the national high technology research and development program (863 plan), this paper is based on the "precise and minimally invasive diagnosis and treatment robot system for the skull base and the facial deep area". In view of the problems existing in the craniofacial puncture operation, we can assist the doctors to carry out the biopsy of the maxillofacial tumor and the radioactive particles of the maxillofacial tumor. This paper mainly focuses on the key techniques of the craniofacial surgery robot system, focusing on the design and optimization of the craniofacial puncture diagnosis and treatment robot, and the design and implementation of the master and slave control system based on the force feedback, which are the key techniques of the craniofacial puncture diagnosis and treatment of the robot system. Robot kinematics analysis and trajectory planning, soft tissue puncture skew control and experimental research. The specific innovative work is as follows: firstly, on the basis of the comprehensive consideration of various robot configurations, a kind of maxillofacial tumor puncture biopsy, radioactive particle implantation of maxillofacial tumor and trigeminal nerve of the skull base on the clinical needs of the surgery. The "one body, the three end" of the three kinds of surgical procedures used to diagnose and treat the operation robot, and analyze its positive, inverse kinematics and working space, and verify the rationality of the robot design. A set of robotic system prototype with independent intellectual property right for craniofacial puncture diagnosis and treatment is developed. The prototype platform of craniofacial puncture diagnosis and treatment operation robot can meet the requirements of three kinds of puncture operation for stable operation, accurate positioning and smooth puncture. Second. According to the clinical requirements and robot configuration, the work requirements of the robot control system for craniofacial puncture diagnosis and treatment are given, and a kind of CAN bus technology is proposed. The whole control system is designed and implemented in detail. According to the needs of the bidirectional force feedback of the robot, an inverse Jacobian master and subordinate control method and an integral separation PID control algorithm based on Cartesian space are proposed, and the security of the whole robot system is analyzed from the angle degree of the system. A practical multi-layer security monitoring model is used. It is proved that the whole control system has reached the design requirements and provides a technical reference for the research and development of medical operating robot. Third, the interaction between needle and soft tissue leads to puncture deviation is one of the main causes of puncture error, and it is also a common problem in the process of puncture. In this paper, the interaction between the needle and the soft tissue is analyzed. On this basis, the skew deviation caused by the needle bending is quantitatively estimated, the estimation equation is given, and a soft tissue deformation simulation model with local refinement is proposed. The drift of the target target is predicted and compensated when the puncture path is ruled. By analyzing the process of needle puncture in the skin of mosquitoes, based on the law of the needle vibration puncture of the mosquito mouth needle, a method of deviation control based on the bionic behavior was put forward. On this basis, a vibration puncture device was designed, and the experimental analysis was carried out to verify the effectiveness of the technique. Finally, the developed craniofacial puncture diagnosis and treatment machine was developed. The error analysis of the human system is carried out, the measures to reduce the robot's error are given, and the parameters of the robot are calibrated and the error is compensated. The accuracy test of the repeated positioning, the absolute positioning accuracy test, and the simulation of the radioactive particle implantation and head of the maxillofacial tumor are carried out. The puncture test verified the effectiveness of the whole system, and laid a solid foundation for forming a stable, safe and reliable surgical machine product.
【学位授予单位】：北京理工大学
【学位级别】：博士
【学位授予年份】：2015
【分类号】：TP242.3
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