穿刺手术机器人系统设计与控制方法研究

发布时间：2018-01-22 04:43

本文关键词： 穿刺机器人立体定位手术刺针检测穿刺实验　出处：《浙江大学》2017年硕士论文　论文类型：学位论文

【摘要】：微创手术凭借其出血少,术后感染率低,并发症少,疤痕小等优点在过去的30年里得到了迅速发展。作为微创手术中常见而重要的一环,穿刺过程通常会直接影响到手术质量。由机器人来完成穿刺手术可以提升操作精度,减轻人手震颤以及消除医生辐射风险,具有很大的研究价值。本文主要对针对穿刺手术使用的机器人系统作一系列开发研究。其主要内容包括主要包括以下几部分。(1)搭建穿刺机器人硬件平台在对比串联机械臂在实现远端中心运动的基础上,提出了具有远端运动中心机构的穿刺机器人设计。该穿刺机器人采用了模块化的设计,由用以定位的笛卡尔坐标系式移动平台,用以姿态调整的远端转臂和用以穿刺的穿刺进针单元三个独立部分构成。(2)穿刺机械人运动规划与控制通过运动学模型与运动空间的分析,讨论了机器远端中心机构在穿刺场景下的应用优势。并基于弧形转臂本身立体定位的设计,通过为转臂增加两枚点字激光器的方法,提出了一种新颖的进针点对准方法。该方法可在仅有单一摄像头的情况下,通过约束机器进行定向运动,达到进针点的快速对准,因而解除了在进针点对准过程中对商用定位器的依赖。(3)穿刺过程监测与穿刺实验本机器设计为手术中与手术床正位与侧位的两台X光影像下配合使用。为更好地辅助穿刺前的路径对准,本文提出了基于图像的穿刺针跟踪方法。该方法选用直线段来描述刺针。结合采用传统的概率霍夫变换与一定的先验知识,实现了穿刺针在进针过程当中的动态跟踪,并在两侧影像的离线视频中进行了方法的验证。另外,本文还分析了穿刺过程中的受力模型,并通过机器人对离体组织的穿刺试验进行了模型验证。
[Abstract]:Minimally invasive surgery has developed rapidly in the past 30 years with its advantages of less bleeding, low infection rate, less complications and small scar. It is a common and important part of minimally invasive surgery. The puncture process usually has a direct impact on the quality of the operation. The robot can improve the accuracy of the operation, reduce the tremor of the hands and eliminate the risk of the doctor's radiation. This paper mainly focuses on a series of research on the robot system used in puncture surgery. The main contents include the following parts. The hardware platform of the puncture robot is built on the basis of the remote center motion of the serial manipulator. The design of a puncture robot with a remote motion center mechanism is presented. The design of the puncture robot is modular and is based on the Cartesian coordinate system mobile platform used to locate the robot. The distal rotation arm for posture adjustment and the puncture needle unit for puncture consist of three independent parts, I. e., the motion planning and control of the puncture robot through kinematics model and the analysis of motion space. This paper discusses the application advantage of the machine remote center mechanism in the puncture scene, and based on the design of the stereo positioning of the arc arm itself, the method of adding two Braille lasers for the rotating arm is introduced. In this paper, a novel method of needle point alignment is proposed, which can achieve fast alignment of the point of entry by constraining the machine's directional motion under the condition of only a single camera. Therefore, the dependence on the commercial locator in the process of needle point alignment is removed. The machine is designed to be used in combination with two X-ray images of the positive and lateral position of the operation bed in order to better assist the alignment of the puncture path. In this paper, an image based tracking method is proposed, in which straight line segments are used to describe the needle, which combines the traditional probabilistic Hough transform with a certain prior knowledge. The dynamic tracking of the puncture needle in the process of needle entry is realized, and the method is verified in the off-line video of both sides of the image. In addition, the force model in the process of puncture is also analyzed in this paper. The model was verified by the robot.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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