支气管介入诊断机器人的分段知情采样规划算法与动力学仿真  

Segmentation-informed sampling planning algorithm and dynamic simulation of a bronchial interventional diagnostic robot

作　　者：郭超[1] 汤向荣 赵珂 李单青 刘进长[4] GUO Chao;TANG Xiangrong;ZHAO Ke;LI Shanqing;LIU Jinchang(Department of Thoracic Surgery,Peking Union Medical College Hospital,Chinese Academy of Medical Sciences&Peking Union Medical College,Beijing,100730,P.R.China;School of Automation,Beijing Information Science and Technology University,Beijing,100192,P.R.China;Institute of Automation,Chinese Academy of Sciences,Beijing,100190,P.R.China;High-tech Research Development Center of Ministry of Science and Technology,Beijing,100044,P.R.China)

机构地区：[1]中国医学科学院北京协和医学院北京协和医院胸外科,北京100730 [2]北京信息科技大学自动化学院,北京100192 [3]中国科学院自动化研究所,北京100190 [4]科技部高技术研究发展中心,北京100044

出　　处：《中国胸心血管外科临床杂志》2022年第10期1260-1269,共10页Chinese Journal of Clinical Thoracic and Cardiovascular Surgery

基　　金：北京市杰出青年科学基金项目(JQ21016)。

摘　　要：目的提出一种可实现精准定位和连续递进的机器人辅助支气管镜介入路径规划方法。方法在MuJoCo动力学仿真环境下,搭建可准确表现机器人运动过程的仿真模型和模拟支气管模型。基于Informed RRT*算法,利用已知空间信息改进路径规划方法并实验仿真机器人的运动特性,验证机器人算法到达目标位置的能力。结果在动力学仿真环境中机器人能够按要求运动,并能够在较短的时间内探索到规划任务的目标点,位置精度比现有电磁导航等方法提升50%以上。结论所建立的仿真模型能够还原机器人的运动情况,机器人具备在支气管环境中运动的能力。所提出的方法能够精确控制仿真机器人进入更外周的气道位置,比传统的人工介入手术具有精度上优势的同时拥有较快的速度,可用于机器人辅助支气管镜的人机协同控制任务。Objective To propose a path planning method for precise robot-assisted bronchial intervention.Methods In the MuJoCo dynamic simulation environment,a simulation model and a simulated bronchus model which could accurately represent the motion process of the robot were built.Based on the Informed RRT*algorithm,the known spatial information was used to improve the path planning method and the motion characteristics of the robot were simulated to verify the ability of the robot algorithm to reach the target position.Results In the dynamic simulation environment,the robot could move as required,and could explore the target point of the planning task in a short time,and the position accuracy was improved by more than 50%compared with the existing electromagnetic navigation and other methods.Conclusion The established simulation model can restore the motion of the robot,and the robot has the ability to move in the bronchial environment.The proposed method can precisely control the simulated robot to enter the more peripheral airway position.It has the advantages of accuracy and faster speed than traditional manual interventional surgery,and can be used for the human-machine coordinated control task of robot-assisted bronchoscopy.

关 键 词：支气管介入 连续体机器人 动力学仿真 路径规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] R734.2[自动化与计算机技术—控制科学与工程]