面向软组织的机器人操控柔性针靶向穿刺机理与方法研究

项目名称： 面向软组织的机器人操控柔性针靶向穿刺机理与方法研究

项目编号： No.61203342

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 自动化学科

项目作者： 边桂彬

作者单位： 中国科学院自动化研究所

项目金额： 24万元

中文摘要： 穿刺时，较差靶向精度会导致组织损伤、错误诊断或不当放射量，因此精确针位姿操控，是经皮介入手术质量和成功与否的关键。目前穿刺手术的两个主要问题：一是由于组织各向异性和个体差异性、软组织变形和运动、穿刺针的弯曲以及不充足的传感，实际中的针操控难以精准；二是穿刺路径上存在障碍物如骨头、敏感组织，则无法进行穿刺手术。本项目以机器人操控柔性针靶向穿刺软组织为目标，围绕针操控系统非完整性和穿刺运动不确定性两大关键科学问题，深入研究针-组织的相互作用建模、非完整约束的针操控路径规划和最优化方法以及超声影像引导下的轨迹控制三个内容，提出具有复杂非线性摩擦力的针-软组织相互作用建模方法、非完整运动学的针操控路径规划方法和基于概率理论的最优化设计理论和方法，以及超声影像引导下的针操控路径控制策略和方法。结合仿真和仿体实验研究形成较为完善的软组织穿刺理论和技术体系，为机器人柔性操作提供理论基础。

中文关键词： 手术机器人；柔性手术器械；柔性体相互作用；医学影像处理；运动规划

英文摘要： During needle puncture, poor placement leads to tissue damage, false diagnosis or irradiation; so targeting accuracy is crucial for needle-based percutaneous procedures. There are two main problems in current needle-based therapies. The first is that the physician hardly manipulates the needle tip to the target zone accurately, due to tissue inhomogeneity and diversity, soft tissue deformation and movement, needle deflection and poor sensing. The second is that the needle cannot be accessed, due to the existence of obstacles (bone, sensitive tissues) on the straight-line paths. This proposed project is oriented at the goal of flexible needle placement for soft tissue, and focuses on two important scientific problems: the nonhonomic needle steering and needle motion uncertainty. It will be deeply studied that needle-tissue interaction modeling, needle path planning with nonholonomic constraints and optimizing method, and ultrasound image-guided trajectory control. It will be proposed that needle-tissue interaction modeling with complicated nonlinear friction, needle steering path planning based on nonholonomic kinematic modeling, optimizing method based on probability theory, and ultrasound image-guided real-time control strategy and method for needle steering. It will be built that perfect needle steering theory

英文关键词： Surgical robot；Flexible surgical tool；tool-tissue interaction；Medical image processing；motion planning