面向机器人辅助穿刺手术的新型柔性针驱动-传感系统创成与针-组织复合操控方法研究

项目名称： 面向机器人辅助穿刺手术的新型柔性针驱动-传感系统创成与针-组织复合操控方法研究

项目编号： No.61305138

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 自动化技术、计算机技术

项目作者： 董为

作者单位： 哈尔滨工业大学

项目金额： 26万元

中文摘要： 柔性针穿刺能够利用针体的柔性实现"非直线进针"轨迹，使得涉及重要解剖结构的穿刺手术得以实施，在活体切片、靶向注射、短程放射性治疗等方面有着极为重要的潜在应用价值。但受到诸如针体轴向转动精度低、穿刺路径实时监测信息少、柔性针操控方式单一等问题的制约，始终没有得到广泛的应用。本课题将从驱动、传感、控制三个方面着手，尝试突破传统思路上的限制，获得创新性设计和突破性结果。本课题的主要关键技术涉及：基于压电驱动的柔性针机电系统创成；组织扰动下柔性针驱动粘滑运动模型研究；基于穿刺术前路径规划的柔性针主动传感与状态辨识；针-组织复合操控下的非均匀介质穿刺数学模型建立；基于针-组织复合的穿刺路径优化与控制决策。本课题研究的开展能够解决目前基于柔性针的机器人辅助穿刺手术系统研究的若干理论瓶颈问题，为新型"驱动-传感-控制"一体化的柔性针系统应用，提供详实的理论依据和技术基础。

中文关键词： 医疗机器人；穿刺手术；压电驱动；传感与辨识；针-组织复合操控

英文摘要： Flexible needle insertion can provide "non-straight trajectory" due to the flexibility of the needle body, which can be implemented in the surgeries involving critical anatomical structures, so it shows high potential in the applications of diagnostic biopsy, drug delivery and radioactive therapy etc. However, currently it is not widely employed in clinical applications, since this technique is still limited by some crucial issues, e.g. the accuracy of the needle axial rotation, real-time monitoring information of the needle path trajectory and the onefold control mode of the needle manipulation. In this proposal, it will be attempted to breakthrough the limits of the past concepts and achieve innovative design and results in the actuation, sensing, and control etc. Several key research issues are involved in this proposed research, i.e. the creation of flexible needle mechatronics system based on piezoelectric actuation, the stick-slip motion model of the flexible needle actuation under the tissue disturbance, active sensing and state identification of flexible needle based on preoperative path planning, modeling of needle path trajectory in inhomogeneous tissues induced by needle-tissue combined manipulation, and motion planning optimization and control decision under the combined manipulation mode. This propo

英文关键词： Medical robot；Percutaneous surgery；Piezo actuation；Sensing and identification；Needle-tissue manipulation