脊柱微创智能手术环境基础问题研究

项目名称： 脊柱微创智能手术环境基础问题研究

项目编号： No.61333019

项目类型： 重点项目

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： 唐延东

作者单位： 中国科学院沈阳自动化研究所

项目金额： 300万元

中文摘要： 本项目针对制约脊柱微创手术发展的术野受限、无法连续观察器械体内位置、缺乏客观安全保障、医生辐射累积等问题，深入开展器械体内连续定位、手术过程模型构建及可视化导引、机器人手术力觉反馈、手术安全及预警机制等基础研究工作。重点解决异构变形医学影像融合与体内器械实时定位、实时数据驱动的手术过程可视化多层模型建立、高透明度双向力/位混合主从控制、手术损伤的多模式电生理信号检测与预警等基础科学问题。建立以手术机器人为核心，集成器械实时连续定位、手术过程可视化、力反馈操作、电生理监测等功能的智能手术环境技术体系。构建集成验证系统，开展临床验证试验，为后续应用系统的研发提供技术验证平台。项目研究成果将促进脊柱微创外科手术技术发展和推广，具有广阔的应用前景，社会经济效益明显，为手术机器人向智能化、自动化、远程化的发展提供相关理论基础和关键技术。

中文关键词： 手术机器人;脊柱手术;手术器械定位;力反馈;手术过程可视化

英文摘要： The application of Minimally invasive spinal surgery(MISS) is limited by some scientific and technology problems, such as the narrowed operational field of vision, the absence of continuous observation of instrument in spine，the lack of objective security for operation and the radiation damage to the surgeon. To solve these problems,the purpose of this proposal focuses on research works to realize instrument realtime positioning in human body, operation process visualization, robot force feedbacking, risk evaluationg and warning..The main scientific problems on building an intelligent environment for MISS include how to fuse the isomerous deformed medical images for positioning the surgery instrument in sufferer body, how to build the multilayer spine model for visualization driven by the realtime data, how to achive transparent force-feedback operation in minimally invasive robotic surgery, how to ensure the safty in spine sergery by intraoperative neurophysiological monitoring. A complete technology architecture will be formed by robot-based integrating the intraoperative instruments location, operation process visualization, force feedbacking operation and neurophysiological monitoring. An integrated prototype system will be developed and some experiments will be done in hospital to validate the achievements..The result of researches can be applied for safer procedure and better efficacy of MISS. With the achievements on this research topic, the development and application of MISS can be promoted with large benefits for economy and society. The achievements can also be benefit for the intelligence， automation, remote operation of the surgery robot.

英文关键词： surgery robot;spinal surgery;surgery instrument positioning;force feedback;operation visualization