应用于机器人辅助微创外科手术的术前规划方法  

Preoperative Planning Algorithm for Robot-Assisted Minimally Invasive Surgery

作　　者：梁科 王树新[1,2] 刘瑞达[1,2] 李建民 Liang Ke;Wang Shuxin;Liu Ruida;Li Jianmin(School of Mechanical Engineering,Tianjin University,Tianjin 300350,China;Key Laboratory for Mechanism Theory and Equipment Design of Ministry of Education,Tianjin University,Tianjin 300350,China)

机构地区：[1]天津大学机械工程学院,天津300350 [2]天津大学机构理论与装备设计教育部重点实验室,天津300350

出　　处：《天津大学学报（自然科学与工程技术版）》2019年第9期889-899,共11页Journal of Tianjin University：Science and Technology

基　　金：国家重点研发计划资助项目(2017YFC0110403);国家自然科学基金资助项目(51475323)~~

摘　　要：机器人辅助微创外科手术(RMIS)技术可帮助外科医生有效克服传统微创外科技术的不足,提高外科医生对手术的执行能力,其所带来的良好的临床效果已被广泛接受.对于机器人来说,术前规划工作相对于传统微创外科手术更为复杂,合理的术前规划可以有效避免机器人末端执行器之间的相互干涉,提高机器人辅助微创外科手术的可操作性、可达性和可视性等,这对手术效果至关重要.本文将微创外科手术规划临床经验与机器人操作性能知识相结合,提出了一种基于多目标粒子群优化算法(MOPSO)的术前规划方法,从机器人有效工作空间、碰撞干涉检测、机械臂与器械末端运动灵活性及手眼协调性几个方面入手,对机器人进行综合性的定量评价,并以此为依据通过计算求解得出以合理的患者体表手术切口位置与机器人初始设置位置为主要目标的方案.为验证该方法的有效性,以机器人辅助腹腔镜胆囊切除术为实验范例,应用"MicroHand S"手术机器人系统为实验设备,针对同一名病患,将外科医生的经验方案和由算法计算得出的术前规划方案进行比较分析,其结果证明了该方法的优越性.实验结果表明,由优化算法得到的术前规划方法优势明显,有效地解决了以往仅依靠临床经验进行机器人辅助微创外科手术术前规划所带来的问题,提高了手术的安全性和效率.Robot-assisted minimally invasive surgery(RMIS)technology helps surgeons to efficiently overcome the shortcomings associated with traditional MIS technology,extends their ability to perform surgical procedures,and has been widely accepted owing to its good clinical results. A proper preoperative planning for RMIS,although more complicated than that of MIS,can effectively prevent interference between robotic end-effectors and enhance the manipulability,reachability,and visibility of RMIS,which is critical to the outcome of surgical procedures. This study aims to propose an optimization algorithm for preoperative planning based on multi-objective particle swarm optimization(MOPSO)to improve the performance of the robot in combination with our clinical experience and knowledge regarding robot manipulability. We found that the port placements on the patient’s body and the initial robot settings can be reasonably obtained by quantitatively evaluating multiple metrics,including the effective working space,collision and interference detection,the kinematic dexterity of both the robotic arms and end-effector,and hand-eye coordination. To validate the performance of this method,we conducted a robot-assisted laparoscopic cholecystectomy as a case study and used a MicroHand S surgical robot as our experimental equipment. We then compared and analyzed the solutions recommended by experienced surgeons and that by the algorithm for the same patient. The experimental results demonstrate the superiority of the proposed method,which provides an effective way to help surgeons solve the problems that arise when performing surgeries while depending only on clinical experience.Hence,the proposed method improves the safety and efficiency of surgery.

关 键 词：术前规划 多目标粒子群优化算法 机器人辅助腹腔镜胆囊切除术 “MicroHand S”系统 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]