血管介入机器人系统的临床培训  

Clinical training for vascular intervention robot systems

作　　者：刘龙[1] 曹彤[1] 刘达[2] 赵德朋[2] 

机构地区：[1]北京科技大学机械工程学院,北京100083 [2]北京航空航天大学机器人所,北京100191

出　　处：《高技术通讯》2014年第7期759-764,共6页Chinese High Technology Letters

基　　金：863计划(2010AA044001)资助项目

摘　　要：为推进血管介入手术机器人系统的临床应用,在系统中引入了临场感技术,以弥补其主从式操作方式导致的视觉及碰撞力觉缺失。结合现有介入机器人系统,提出了一种基于真实手术过程的培训技术,该技术通过拓展主端的力觉交互设备,支持多人同时在线培训;通过设置权限矩阵和协调受培训者对导管的运动控制,提高受培训者的主动性和参与性。进行了双人在线临床培训,证实了该技术可提供实时有效的三维导航和碰撞反馈,培训模式多样灵活。培训结果表明,在完全真实的反馈信息下,通过信息共享、权限控制、量化评估,可实现高质量、高效率的临床培训效果。In order to advance the clinical application of a vascular intervention surgery robot system, the telepresence technology was introduced to it to make up the lack of visual sense and collision sense due to the master-slave operation mode. Combined with the existing interventional robotic systems, a training technique based on real surgical procedures was proposed. The technique supports the multiplayer online training through the expansion of the master＇ s haptic device, and improve the initiative and participation of trainees via setting an authority matrix and coordinating trainees＇ movement control of the catheter. A double-line clinical training was conducted, showing that the technique provided real-time, effective three-dimensional navigation and collision feedback, and the training model was diverse and flexible. The training results show that through information sharing sessment, this method can achieve a high-quality, high-efficiency clinical feedback environment.

关 键 词：主从式机器人 培训技术 权限矩阵 信息共享 临场感 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]