手术机器人运动再现及最优布置系统  

Motion Simulation and Optimal Position System of Surgical Robots

作　　者：闫志远[1] 杜志江[1] 吴冬梅[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150080

出　　处：《西安交通大学学报》2013年第12期116-122,共7页Journal of Xi'an Jiaotong University

基　　金：国家高技术研究发展计划资助项目(2009AA044001)

摘　　要：针对外科手术机器人培训和术前布置困难的特点,提出了一种辅助医生实施机器人手术培训和优化机器人术前布置的方法。该方法使用位姿分离的运动映射策略建立了虚拟机器人主从运动控制模型,在三维虚拟现实环境中再现了手术机器人的基本动作;以多臂协作能力为目标函数构建了粒子群优化模型,在兼顾手术机器人性能和手术空间内部差异的前提下可以直观地引导医生完成复杂的术前设置工作,优先保证手术空间内部重要区域的多臂协作能力。实验结果表明,基于该方法构建的系统可以准确模拟手术机器人的动作以辅助机器人手术的预演及训练,可以有效获取术前最优布置从而有效地提高手术机器人的工作性能。A method that is used to position surgical robot and to train the surgeons is proposed to reduce difficulties of surgical robot training and preoperative setup. The position and posture of the surgical robot are respectively considered, and the master-slave motion of the surgical robot is simulated in a 3D virtual environment. The cooperation between the arms is used as the object function and the particle swarm optimization method is used to optimize the robot position. Doctors are intuitively guided to complete the complex preoperative arrangement by considering both the robot performance and the internal difference of operation space, and the priority is given to the cooperation of multi-arms in the important region of surgical space. Experimental results show that the system accurately simulates surgical operations and facilitates the rehearsal and training of robotic surgery, and that the system effectively achieves the best robot position and enhances the robot performance.

关 键 词：机器人手术 机器人布置 虚拟现实 运动仿真 布置优化 

分 类 号：O121.8[理学—数学] G558[理学—基础数学]