机器人辅助视网膜下注射系统的设计与实现  

Design and implementation of robot-assisted subretinal injection system

作　　者：王朝董 广晨汉 王丽强[2] 宗俊杰 郑昱 杨洋[1] WANG Zhaodong;GUANG Chenhan;WANG Liqiang;ZONG Junjie;ZHENG Yu;YANG Yang(School of Mechanical Engineering and Automation,Beihang University,Beijing 100191,China;Department of Ophthalmology,PLA General Hospital,Beijing 100853,China)

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100191 [2]解放军总医院眼科医学部,北京100853

出　　处：《北京航空航天大学学报》2023年第9期2406-2414,共9页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家重点研发计划智能机器人专项(2007YFB1302700)。

摘　　要：视网膜下注射人胚胎干细胞是治疗视网膜变性的一种有效术式,该术式对医生手术操作的精准性、稳定维持能力、安全性均提出了很高的要求。为此,提出一种基于主从式机器人的视网膜下注射系统,辅助医生完成视网膜下注射操作。构建从手机器人的正逆运动学模型,然后进行视网膜下注射手术运动分析,确定从手机器人的运动要求。建立主手和从手机器人之间的运动映射关系,依据运动映射关系推导建立远程运动中心(RCM)点位置调整运动、术中RCM运动的状态切换和分离过程的速度映射模型。通过离体猪眼球视网膜下穿刺注射实验对机器人的精确性和稳定维持能力进行验证,结果表明:机器人辅助操作系统末端注射针具有稳定维持能力和运动的精确性,机器人辅助操作比徒手操作对视网膜造成的创伤更小,注射更稳定。Subretinal injection of human embryonic stem cells is an effective procedure for treating retinal degeneration,which imposes high demands on the precision,stability,and safety of the surgical procedure.To address these challenges,a robot-assisted retinal surgery system based on a master-slave control approach is proposed.The system utilizes a master robot to control a slave robot during the subretinal injection operation.By constructing the direct and inverse kinematic models of the slave robot,the precise motion requirements for the subretinal injection are determined.Additionally,the system incorporates the concept of the remote center of motion(RCM)to adjust the position of the surgical instruments during remote motion.A velocity mapping model is derived to facilitate the adjustment of the RCM point,state transitions,and separation process during the procedure.The validation of the system’s accuracy and stability is conducted through ex vivo porcine eyeball subretinal puncture injection experiments,simulating the conditions of intraocular surgery.The results demonstrate that the robot-assisted system exhibits stable needle maintenance and precise motion,indicating its superiority over manual procedures in terms of reducing trauma to the retina and achieving more stable injections.This technology represents a advancement in microsurgery techniques,enhancing the precision and safety of subretinal injection procedures for the treatment of retinal degeneration.

关 键 词：机器人辅助视网膜手术 主从控制 远程运动中心 眼内手术 显微手术 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]