鼻内镜手术辅助机器人主动跟随运动规划与安全控制方法研究

项目名称： 鼻内镜手术辅助机器人主动跟随运动规划与安全控制方法研究

项目编号： No.61473278

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 自动化技术、计算机技术

项目作者： 张朋

作者单位： 中国科学院深圳先进技术研究院

项目金额： 76万元

中文摘要： 鼻内镜手术中，传统医生持镜和机器人被动持镜，鼻内镜术中位姿的调整只能依赖医生的经验，难以实现鼻内镜与操作器械的最佳配合，现有的鼻内镜控制方式易影响手术操作，持续稳定性有待提高，且缺乏系统的安全控制策略来保证手术安全，因此亟需开展鼻内镜手术辅助机器人的安全控制研究。本项目针对鼻内镜手术辅助机器人，采用医生操作器械，机器人夹持鼻内镜，鼻内镜主动跟随器械运动的随动控制方式，并以鼻内镜与操作器械术中协调规划与安全控制为研究目标，从基础理论模型、关键技术和实验验证开展相关研究。提出能够适应鼻腔软组织变形的鼻内镜运动的动态约束模型；研究鼻内镜与操作器械的交互模型，建立鼻内镜跟随器械运动的协调规划机制；研究术中人机协同的机器人安全控制策略，建立控制力模型；搭建随动式鼻内镜手术辅助机器人实验平台，进行实验验证。本项目的研究成果可为该类机器人的临床应用提供重要的理论支撑，具有重要的科学意义和研究价值。

中文关键词： 鼻内镜手术；鼻内镜手术辅助机器人；安全控制；主动跟随；运动规划

英文摘要： During endoscopic sinus surgery, endoscope is held by surgery in traditional way or held by a passive robotics system, and endoscopic pose adjustment mainly relys on surgery's experience, so it is troublesome to achieve the best fit between endoscope operation and instruments operation. Existing endoscope control methods is likely to affect surgical operation, and operational continuous stability needs to be improved,moreover,systematic control strategies is lacking to ensure safety of surgery,therefore,it is urgent to carry out safety control research on robot assisted endoscopic sinus surgery. In this project, with instruments operated by surgery and endoscope operated by a robotics system, the active-following control mode for endoscope following instrument is established. The research target mainly focuses on the coordinated planning between endoscope and instruments and system safety control during surgery, and relevant research is conducted from basic theoretical models, key technologies and experimental validation.A dynamic constraint model of endoscopic motion,which can adapt to deformation movement of nasal soft tissue,is proposed; based on interaction model between endoscope and instruments, the coordinated planning mechanism is established for the active-following motion, afterwards, safety control strategy of robotics system during surgery is investigated, and the control-force model is also established; finally, experimental platform is setted up and relevant experiments will be performed for system verification.This research project provides an important theoretical support for the clinical application of such robots and has important scientific significance and research value.

英文关键词： endoscopic sinus surgery;endoscopic assisted surgical robot;safety control;active motion following;motion planning