人机协同脑室穿刺引流机器人设计及实验验证  

Design of human-machine collaborative ventricular puncture robot and experiment validation

作　　者：李晓寅 赵艳梅 梁晋 杨晓云 陈淑莲 李正超 王君臣[5] 段峰 陈旭义 杨波 梁冰 LI Xiao-yin;ZHAO Yan-mei;LIANG Jin;YANG Xiao-yun;CHEN Shu-lian;LI Zheng-chao;WANG Jun-chen;DUAN Feng;CHEN X u-yi;YANG Bo;LIANG Bing(Medical Support Institute of Marine Right Safeguarding,Characteristic Medical Center ofPAP,Tianjin 300162,China;Department of Disease Prevention and Control,Dalian Rehabilitation Sanatorium Centre of Joint Logistics Support Force,Dalian 116013,Liaoning Province,China;Department ofNeurosurgery,Characteristic Medical CenterofPAP,Tianjin 300162,China;Department ofImaging,Characteristic Medical Center ofPAP,Tianjin 300162,China;Institute of Mechanical Equipment,Beijing University of Aeronautics and Astronautics,Beijing 100191,China;College of Artificial Intelligence,Nankai University,Tianjin 300381,China;Department ofPharmacy,Characteristic Medical CenterofPAP,Tianjin 300162,China)

机构地区：[1]武警特色医学中心海上维权医学保障研究所,天津300162 [2]联勤保障部队大连康复疗养中心疾病预防控制科,辽宁大连116013 [3]武警特色医学中心神经外科,天津300162 [4]武警特色医学中心影像科,天津300162 [5]北京航空航天大学机械装备研究院,北京100191 [6]南开大学人工智能学院,天津300381 [7]武警特色医学中心药剂科,天津300162

出　　处：《医疗卫生装备》2022年第6期18-24,30,共8页Chinese Medical Equipment Journal

基　　金：国家自然科学基金重点项目(11932013)。

摘　　要：目的:研发一款人机协同脑室穿刺引流机器人,实现战场脑室穿刺减压快速处置。方法:该脑室穿刺引流机器人依据力反馈原理和半自动控制穿刺技术实现真正力控下的自主穿刺和穿刺过程的精确控制,主要由KUKA iiwa/med机械臂、穿刺末端执行器、控制系统和视觉伺服系统组成。采用3D打印头骨模型和动物实验对脑室穿刺引流机器人样机的穿刺性能进行验证。结果:头骨模型实验表明,采用脑室穿刺引流机器人样机进行颅内脑室穿刺引流的目标点定位精度为0.12 mm、穿刺精度为0.71 mm、穿刺成功率为100%。动物实验表明,采用脑室穿刺引流机器人样机进行比格犬脑室穿刺引流的穿刺误差为(1.22±0.62)mm,手术用时≤15 min。结论:采用该脑室穿刺引流机器人进行脑室穿刺引流术穿刺精度高、手术效果好、操作时间短且易操作,能满足战场颅脑损伤快速救治的需要。Objective To develop a human-machine collaborative ventricular puncture robot for rapid ventricular puncture and decompression in the battlefield. Methods A human-machine collaborative ventricular puncture robot was designed composed of a KUKA iiwa/med robotic arm, a puncture end effector, a control system and a visual servo system, which achieved force-controlled autonomous puncture and precise control of the puncture process based on the force feedback principle and semi-automatically controlled puncture technology. The puncture performance of the prototype robot was verified using a 3D printed skull model and animal experiments. Results The skull model experiments showed that the target point localization accuracy of the intracranial ventricular puncture and drainage using the prototype robot was 0.12 mm, the puncture accuracy was 0.71 mm, and the puncture success rate was 100%. Animal experiments proved that the puncture error of ventricular puncture and drainage in Beagle dogs was(1.22±0.62) mm, and the operation time was not longer than 15 min.Conclusion The ventricular puncture and drainage robot gains high puncture accuracy, high surgical effect, short operation time and easy operation when used to perform ventricular puncture and drainage, and can meet the needs of rapid treatment of craniocerebral injury in battlefield. [Chinese Medical Equipment Journal,2022,43(6):18-24,30]

关 键 词：创伤性颅脑损伤 人机协同 脑室穿刺引流术 机器人 力反馈 

分 类 号：R318[医药卫生—生物医学工程] TP242.6[医药卫生—基础医学]