用于微创外科的机器人辅助柔性针经皮穿刺理论与技术研究

项目名称： 用于微创外科的机器人辅助柔性针经皮穿刺理论与技术研究

项目编号： No.61273356

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 自动化技术、计算机技术

项目作者： 徐卫良

作者单位： 中国科学院沈阳自动化研究所

项目金额： 84万元

中文摘要： 针对柔性针经皮穿腔软组织穿刺的特点，深入研究穿刺作用机理和规划、针尖定位和力测量、机器人穿刺机构设计和控制等一系列关键问题。首先，在分析柔性针受力和弯曲扭转变形、组织变形及针与组织相互作用规律的基础上，利用空间非均匀弹簧阻尼等效建立穿刺力学模型；其次，结合A*算法和RRT随机采样理论研究针尖路径规划、针座轨迹规划、机器人穿刺机构运动规划问题；接着，基于图像处理技术和光纤传感技术分别研究针尖定位和力传感问题；然后，采用RCM机构和柔性齿条进行辅助穿刺机器人的机构、驱动和运动传递设计；再接下来，基于穿刺行为的波动特性重点研究机器人穿刺机构的反馈控制理论与技术，实现针尖位置和力精准控制；最后，进行穿刺仿真模拟和实验研究。课题获得的相关理论和技术，在学术上将丰富微创手术机器人学，在机器人微创外科的推广应用上，具有重要的实际意义。

中文关键词： 柔性针穿刺；机器人机构；光纤力传感器；路径规划方法；非线性系统控制

英文摘要： Considering the characteristics of percultaneous and tranluminal insertion into soft tissue and organs with a flexible needle, a series of issues such as interaction mechanism, planning, needle tip localization and force sensing, robot design and control are proposed to be investigated systematically. First, an interaction model of flexible needle insertion into layered tissues is derived based on equivalent spatial nonuniform springs and dampers, by integrating with needle insertion forces and deflections, tissue deformations, and their interaction effects. Second, a random sampling planning approach, namely, rapidly- exploring random tree (RRT), coupled with A* algorithm, is put up to plan and optimize needle tip path, needle base trajectory, and robot joint motion. Third, a fiber optic force sensor is designed to measure the force at the needle tip and imaging processing algorithms are introduced to localize the tip. Fourth, a remote center of motion (RCM) concept is synthesized to design a robotic insertion mechanism, and its power and motion transmission is devised. Fifth, a novel waved based feedback strategy is studied throughly to precisely control position and force at the neelde tip, taking into account the wave behaviours of needle-tissue interaction. Finally, simulations and experiments are carried

英文关键词： flexible needle insertion；robotic mechanism；fiber optic force sensor；path planning method；nonliner system control