经支气管诊疗机器人设计及其柔性末端执行器位姿研究  

Design of transbronchial diagnosis robot and research on pose of flexible end-effector

作　　者：张艳平[1] 姜洁 付治国[1] 姜晓宇 王泊鸥 ZHANG Yanping;JIANG Jie;FU Zhiguo;JIANG Xiaoyu;WANG Boou(School of Mechanical Engineering,Liaoning Technical University,Fuxin 123000,China;Research Centre for Medical Robotics and Minimally Invasive Surgical Devices,Shenzhen Institute of Advanced Technology,Chinese Academy of Sciences,Shenzhen 518067,China)

机构地区：[1]辽宁工程技术大学机械工程学院,辽宁阜新123000 [2]中国科学院深圳先进技术研究院医疗机器人与微创手术器械研究中心,广东深圳518067

出　　处：《工程设计学报》2024年第3期319-331,共13页Chinese Journal of Engineering Design

基　　金：国家自然科学基金资助项目(U21A20480)。

摘　　要：经呼吸道活检是肺结节诊断中较为常见的手术,但由于呼吸道疾病存在传染风险以及手动操作时关节受限等,医工结合的诊疗方式逐渐成为发展趋势。为实现柔性体在支气管腔道内复杂弯曲动态环境下灵活运动、精准定位与稳定介入,采用主从协同式远程控制机器人机构设计,模拟传统手术中医生的操作习惯,设计并搭建能够操控支气管镜、活检钳的集成机构原理样机,以实现经支气管进行微创诊疗的双器械协同操控。然后,基于Cosserat杆理论,利用MATLAB软件对机器人柔性末端执行器的力-位映射关系、位姿和工作空间进行仿真求解,并通过实验分析机器人柔性末端执行器在经支气管的远程微创活检手术中的真实位姿以及机器人的实际运行效果,验证了仿真结果的准确性。研究结果可为经自然腔道活检术的多器械协同控制提供理论基础。Transrespiratory biopsy is a common surgery for diagnosing pulmonary nodules.However,due to the risk of infection of respiratory diseases and joint restrictions during manual operation,the diagnosis and treatment method combined with medical and engineering has gradually become a development trend.In order to realize the flexible movement,precise positioning and stable intervention of the flexible body in the complex bending and dynamic environment of the bronchial lumen,a masterslave collaborative remote control robot mechanism design was adopted to simulate the doctor's operating habits in traditional surgery,and an integrated mechanism principle prototype that could simultaneously control the bronchoscope and biopsy forceps was designed and build,which realized the dual-machine cooperative control for minimally invasive diagnosis and treatment through the bronchus.Then,based on the Cosserat rod theory,the force-position mapping relationship,pose and working space of the flexible end-effector of the robot were simulated and solved by MATLAB software,and the real pose of the flexible end-effector of the robot in the remote minimally invasive biopsy operation through the bronchus was analyzed by experiments,as well as the actual operation effect of the robot,which verified the accuracy of simulation results.The research results can provide a theoretical basis for multi-instrument collaborative control of transnatural duct biopsy.

关 键 词：双器械协同 Cosserat杆理论 力-位映射关系 位姿分析 微创活检 

分 类 号：TH777[机械工程—仪器科学与技术]