入路姿态光纤导航的经鼻柔性手术机器人  

Fiber-optic navigation of approach attitude for transnasal flexible surgical robot

作　　者：李天梁 朱永文 李佳隽 王峻[2] 孟伟 谭跃刚[1] LI Tianliang;ZHU Yongwen;LI Jiajun;WANG Jun;MENG Wei;TAN Yuegang(School of Mechanical and Electrical Engineering,Wuhan University of Technology,Wuhan 430070,China;Department of Neurosurgery,Renmin Hospital of Wuhan University,Wuhan 430060,China;School of Information Engineering,Wuhan University of Technology,Wuhan 430070,China)

机构地区：[1]武汉理工大学机电工程学院,湖北武汉430070 [2]武汉大学人民医院神经外科,湖北武汉430060 [3]武汉理工大学信息工程学院,湖北武汉430070

出　　处：《光学精密工程》2024年第19期2861-2876,共16页Optics and Precision Engineering

基　　金：湖北省重点研发计划资助项目(No.2022BAA066);国家自然科学基金资助项目(No.52275541);东南大学数字医学工程全国重点实验室开放课题基金资助项目。

摘　　要：针对深腔狭小空间下传统经鼻手术操作灵巧性不足、术中入路导航信息匮乏等问题,提出了入路姿态光纤导航的经鼻柔性手术机器人。采用柔性球铰串联和销钉-滑槽配置,设计出兼具灵巧和抗扭扰动的柔性机械臂构型,结合几何分析和D-H参数法建立了手术机器人正、逆运动学模型;通过在各柔性机械臂内间隔90°嵌入两路分布式光纤导航传感器,联合双目视觉和极限学习机提出的数据驱动的入路姿态光纤原位标定法,避免了传统离线标定导致的测量误差及基于微分几何理论获取其姿态方法中误差累积的问题,实现了手术机器人术中形位高精度自感知。实验结果表明:柔性机械臂的极限弯曲角度可达105°,弯曲角80°范围内容许负载为0.9 N;通过光纤导航,在自由和障碍物环境中,柔性机械臂末端最大位置预测误差分别为0.920 mm,1.635 mm,验证了本文提出的入路姿态光纤导航的经鼻柔性手术机器人有效性和可行性。To address the challenges of limited dexterity in traditional transnasal surgery and inadequate in⁃traoperative guidance,a flexible transnasal surgical robot with fiber-optic navigation is developed.The de⁃sign features a flexible manipulator with spherical hinges and pin-slot configuration for enhanced dexterity and resistance to torsional disturbances.The robot's forward and inverse kinematics are modeled using geo⁃metric analysis and the D-H parameter method.Embedded with two fiber-optic sensors at 90°intervals in each manipulator,a data-driven posture calibration using binocular vision and extreme learning avoids errors from traditional offline calibration and mitigates error accumulation in differential geometry posture es⁃timation.This enhances high-precision perception of the robot's shape and position.Experiments demon⁃strate the manipulator's bending angle can reach 105°,with a load capacity of 0.9 N at 80°.Using fiber-op⁃tic navigation,maximum position prediction errors are 0.920 mm in free environments and 1.635 mm with obstacles,confirming the robot's effectiveness and feasibility.

关 键 词：光纤导航 柔性手术机器人 极限学习机 位置跟踪 

分 类 号：TN253[电子电信—物理电子学] TP242[自动化与计算机技术—检测技术与自动化装置]