椎板减压手术机器人运动学分析与轨迹规划  

Kinematics Analysis and Trajectory Planning of Lamina Decompression Surgical Robot

作　　者：王丽 孙宇[2,3] 王瑞强 齐晓志 WANG Li;SUN Yu;WANG Rui-qiang;QI Xiao-zhi(College of Mechanical and Equipment Engineering Hebei University of Engineering,Hebei Handan056038,China;Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences,Guangdong Shenzhen518055,China;School of Mechanical Engineering and Automation Harbin Institutes of Technology(Shenzhen),Guangdong Shenzhen518055,China)

机构地区：[1]河北工程大学机械与装备工程学院,河北邯郸056038 [2]中国科学院深圳先进技术研究院,广东深圳518055 [3]哈尔滨工业大学(深圳)机电工程与自动化学院,广东深圳518055

出　　处：《机械设计与制造》2020年第5期281-284,共4页Machinery Design & Manufacture

基　　金：国家重点研发计划(2017YFC0110600);国家自然科学基金(61573336);国自然联合基金(U1613224)。

摘　　要：椎板减压是治疗腰椎椎管狭窄等疾病的重要手段,具有风险大、耗时长、对医生技术要求高等特点,通过应用手术机器人辅助医生完成椎板减压操作,能在保证手术精度与安全性的前提下减轻医生负担。针对椎板开窗减压术,研发小型串联手术辅助机器人,并对手术轨迹规划方法展开研究。文章综合考虑术中患者摆位、手术区域覆盖范围以及机器人占地空间等因素,通过尺度分析设计出具有最优刚度与精度的五自由度机器人;以椎板磨削中的轨迹规划为目的,基于医学影像数据多尺度分割技术对患者椎板等组织进行分割与三维重建,构建轨迹规划的实际临床环境;采用Isomap与遗传算法实现机器人的磨削轨迹规划,并利用三次样条插值提高机器人运行稳定性;同时采用A*算法实现椎板换位过程中的轨迹规划,避免机器人在三维空间中运动时与非目标区域发生碰撞。Decompression laminectomy is an important treatment for many orthopedic diseases,such as lumbar spinal stenosis with high risk,long-time consuming and high skill requirements,which are seemed as the burdens for surgeons. Robot-assisted surgery can reduce the burdens on the premise of ensuring the accuracy and safety of surgery. In this paper,a small serial robot is developed for decompressive laminectomy,and the relevant trajectory planning algorithms are proposed.Considering with the factors such as the position of patients,surgical area coverage and workspace,a 5-DOF robot with optimal stiffness and accuracy is designed by scale analysis;Reconstruction of bone tissues based on multi-scale medical image segmentation is used to construct the real environment;The genetic algorithm with Isomap and A* algorithm are used to generate the paths for grinding and transposition respectively,while the B-spline interpolation is used to improve the stability of the robot.

关 键 词：手术机器人 椎板减压 图像分割 特征降维 轨迹规划 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]