五自由度腹腔镜虚拟手术机械手的设计与实现

发布时间：2018-03-05 05:29

本文选题：虚拟手术　切入点：人机交互　出处：《华中科技大学》2015年硕士论文　论文类型：学位论文

【摘要】：随着外科手术水平的发展,传统的临床教学模式已经难以达到教学实践的目的。虚拟手术因为无创伤、可重复和低成本等优点,很快成为了研究热点。腹腔镜虚拟手术是最为常见的一种虚拟手术。该领域目前大部分研究仅限于仿真可视化阶段,由于缺少人机交互接口,导致医生使用时效果跟临床环境差别很大。在开发腹腔镜虚拟手术系统的过程中,为了使实习医生的模拟训练更加贴近现实,选用机械手设备作为人机交互的接口非常有必要。在临床中,腹腔镜手术器械的操作是一种绕固定点作自旋、伸缩、角度开合和四个方向转动的受限制运动。本文根据腹腔镜虚拟手术系统的特点,提出机械手设计原则,经过尺寸计算和空间结构布局,自主设计了一套五自由度的正交构型机械手设备。该设备支持伸缩、旋转、左右转动、上下转动和角度开合五个自由度的操作,各自由度采用正交构型设计,符合医生的操作方式,避免了用于虚拟手术系统时复杂的坐标转换。根据手术过程中选择手术器械及其它快捷键的需求设计了按键面板,并依据实际临床情况加入了脚踏板作为按键面板的补充。机械手通过采集传感器捕获操作者的空间运动信息,传递给虚拟手术系统。虚拟手术系统根据采集到的五个自由度的电压幅值与机械位移量的对应关系,完成了姿态信息从机械手到虚拟器械的转换过程,实现了通过机械手控制虚拟器械的目的,满足了腹腔镜虚拟手术系统对机械手人机交互功能的需求。本机械手实现了人机交互来控制虚拟手术流程的功能,符合人体工程学,能够满足腹腔镜虚拟手术系统中对手术器械实时操作的要求。该设备具有可扩展性、实时性和易操作等优点,可以适用于多种腹腔镜虚拟手术场景。
[Abstract]:With the development of surgical operation, the traditional clinical teaching model has been difficult to achieve the purpose of teaching practice. Virtual surgery has the advantages of non-invasive, repeatable and low-cost, etc. Laparoscopic virtual surgery is one of the most common virtual surgery. At present, most of the research in this field is limited to the stage of simulation visualization, due to the lack of human-computer interface, In the process of developing the laparoscopic virtual surgery system, in order to make the simulated training of the intern more realistic, It is very necessary to select manipulator as the interface of man-machine interaction. In clinic, the operation of laparoscopic surgical instrument is a kind of spin, expansion and expansion around the fixed point. According to the characteristics of the laparoscopic virtual surgery system, the design principle of manipulator is put forward, which is based on dimension calculation and spatial structure layout. A set of orthogonal manipulator with five degrees of freedom is designed independently. The equipment supports the operation of five degrees of freedom, such as expansion, rotation, left and right rotation, up and down rotation and angle opening and closing. Each degree of freedom is designed by orthogonal configuration. According to the doctor's mode of operation and avoiding the complicated coordinate transformation used in the virtual surgery system, the key panel is designed according to the requirements of selecting surgical instruments and other shortcut keys during the operation. According to the actual clinical situation, the pedals are added as a supplement to the keystroke panel. The manipulator captures the spatial motion information of the operator by the sensor. According to the relationship between the voltage amplitude of the five degrees of freedom collected and the mechanical displacement, the virtual surgery system completed the process of attitude information conversion from manipulator to virtual instrument. The purpose of controlling virtual instrument by manipulator is realized, and the need of human-computer interaction of manipulator in laparoscopic virtual surgery system is satisfied. This manipulator realizes the function of human-computer interaction to control virtual operation flow, which is in accordance with ergonomics. It can meet the requirements of real-time operation of surgical instruments in the laparoscopic virtual surgery system, which has the advantages of scalability, real-time and easy to operate, and can be used in many kinds of laparoscopic virtual surgery scenarios.
【学位授予单位】：华中科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：R612;TH789

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