基于协作空间与灵巧度的机器人辅助微创手术术前规划算法  

A Preoperative Planning Algorithm Based on Dexterity and Collaboration Space for the Robot-Assisted Minimally Invasive Surgery

作　　者：王伟[1] 王伟东[1] 董为[1] 杜志江[1] 孙永平[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》2016年第2期208-216,共9页Robot

基　　金：国家863计划(2009AA044001)

摘　　要：机器人辅助微创外科手术的术前准备工作相对于传统微创手术更加复杂和关键.为了提高手术执行效率,充分利用机器人特性,本文以机械臂的运动学性能和器械间的协作能力作为优化目标,相应地提出了机械臂灵巧度指标IICV与体内协作空间指标IICS,设计了一套基于NSGA-II的多目标术前规划方法,将微创手术介入位置选择与机械臂初始位姿优化两类术前规划问题作为统一整体优化.最后,将由术前规划算法优化得到的系统性能指标与医生凭借经验给出的结果进行比较.实验结果表明,由优化算法得到的术前规划方案优势明显,能够为机器人辅助微创手术操作提供一个相对理想的手术执行环境.Compared with the traditional minimally invasive surgery, the preoperative preparation of the robot-assisted minimally invasive surgery is more critical and complex. For the purposes of improving the operation efficiency and making full use of the characteristics of the robot, the kinematic performance of the manipulator as well as the collaborative capability between instruments are taken as the optimization objectives, and a new dexterity index named IICV for robot-assisted minimally invasive surgery and the internal collaboration space index named IICS are proposed. A set of multi-objective preoperative optimization methods based on NSGA-II are designed to optimize the incision placement and initialize the pose of the manipulator as a unified whole. Finally, a comparison between the preoperative planning schemes generated by the optimization algorithm and recommended by an experienced surgeon is performed. The experimental result shows that the preoperative planning scheme obtained by the optimization algorithm is effective, and it can provide a relatively superior operating environment for robot-assisted minimally invasive surgery.

关 键 词：微创外科手术机器人 术前规划 灵巧度 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]