基于仿真的外科手术机器人术前引导优化  

Preoperative Guidance Optimization of Surgical Robot Based on Simulation

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,黑龙江哈尔滨150080

出　　处：《机器人》2014年第3期300-308,共9页Robot

基　　金：国家863计划资助项目(2009AA044001)

摘　　要：给出一种保证术中较高灵巧度、可达性和可视化指标的手术机器人布置方法，建立一个能够辅助医生完成手术机器人术前布置的虚拟现实系统。基于粒子群优化算法提出了引导手术切口布置和机器人摆位的方法，该方法不仅能够有效完成针对某一手术空间的摆位优化，还通过手术空间划分并赋予权值的方法来反映手术空间内部差异，在空间分割的基础上提出加权平均的全域各向同性和多臂协同性两个目标函数，分别反映机器人系统的单臂性能和三臂协作能力。该方法可以在兼顾手术机器人性能和手术空间内部差异的前提下直观地引导医生完成复杂的术前设置工作。实验证明，3只臂的灵巧度优化结果均高于不加权方法，三臂协作能力指标相对不加权方法提高25%～30%，而且优化结果能够优先满足手术空间内的重要区域。A method to complete the setup of the surgical robot is presented, which can guarantee the dexterity, acces-sibility, visibility. And a virtual reality system is established to assist the surgeon to pose the robot before operation. The incision placement and the arm position are obtained by particle swarm optimization algorithm. The method not only can effectively complete setup optimization of the robot in an operation space, but also can reflect the internal difference of the operation space by dividing the operation space and assigning the subspaces with weights. Global isotropy index and cooperation ability are put forward, and their weighted average based on space division are used as objective functions to reflect the single-arm and three-arm cooperation performances of the robot respectively. Hence, the method can intuitively guide surgeons to complete the complex preoperative arrangement, taking into account the performance of the surgical robot and the internal difference of the operation space. Experiments show that compared with the method without weights, the dexterity of the three arms are all better, and cooperation capability index of the three arms increases by 25%～30%, and it can give priority to important regions of the operation space.

关 键 词：机器人摆位 切口布置 空间细分 协作空间 粒子群优化 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]