面向自然腔道微创介入的在体感知与柔性操作  

In-vivo perception and flexible operation focused on minimally invasive intervention of natural orifice

作　　者：李言民[1,2] 刘浩[1] 李贵祥[1] 周圆圆[1] 闫杰[1,3] 李洪谊[1,2] 

机构地区：[1]中国科学院沈阳自动化研究所,机器人学国家重点实验室,沈阳110016 [2]中国科学院大学,北京100049 [3]沈阳理工大学机械工程学院,沈阳110159

出　　处：《科学通报》2013年第S2期175-180,共6页Chinese Science Bulletin

基　　金：国家自然科学基金(61105099);国家科技支撑计划(2012BAI14B03)资助

摘　　要：针对导管、胃镜等柔性介入器械在治疗心血管、消化道等腔道类疾病时存在近端操作无法完全映射到远端和形变能量释放易损伤组织的问题,引入在体感知,采用局部位置闭环控制,实现器械的柔性操作以降低手术风险.在利用弹性体实现力位转化的基础上,通过光纤测距反解获得器械与组织的三维交互力;并结合器械的可控自由度实现器械操作的局部闭环控制.随后以心脏射频消融导管为应用案例,验证控制策略的有效性.仿真结果与初步实验表明,本文提出的柔性操作方法可快速降低接触力,有效保护人体组织.During the treatment of natural orifice disease using flexible interventional instruments, such as catheter and gastroscope, there are two problems: the uncertain response between proximal operation and distal motion and tissue damage owing to release of the deformation energy. This paper employs flexible operation of instruments to decrease surgery risk by introducing in-vivo perception and local close-loop position control. Three-dimension interaction force between instruments and tissue was sovled inversely via distance measurement by fiber reflecting based on force-position transformation realized by elastomer. Steerable freedom of instruments is combined with force to realize local close-loop control. Then ablation catheter was used as an application case to evaluate the effectiveness of the control strategy. Simulation results and preliminary experiments indicated that the flexible operation method could decrease the contact force rapidly and protect human tissues effectively.

关 键 词：自然腔道 微创介入 光纤力传感器 在体感知 柔性操作 局部闭环控制 

分 类 号：R815[医药卫生—放射医学]