顱頜面穿刺診療手術(shù)機器人關(guān)鍵技術(shù)研究
發(fā)布時間：2018-08-06 18:39
【摘要】：穿刺手術(shù)具有創(chuàng)傷小、出血少、疼痛輕、恢復(fù)快等優(yōu)點,在介入治療、活檢等領(lǐng)域應(yīng)用廣泛。但是,由于顱頜面解剖結(jié)構(gòu)復(fù)雜、血管神經(jīng)集中,醫(yī)生手工穿刺手術(shù)時易損傷重要的血管神經(jīng),手術(shù)難度大、風(fēng)險高。醫(yī)療手術(shù)機器人的發(fā)展為解決這個難題,提供了可行的技術(shù)手段。本文依托國家高技術(shù)研究發(fā)展計劃(863計劃)項目“顱底及面?zhèn)壬顓^(qū)疾病精確微創(chuàng)診療機器人系統(tǒng)”,針對目前顱頜面穿刺手術(shù)存在的問題,研制可以輔助醫(yī)生實施頜面腫瘤穿刺活檢、頜面腫瘤放射性粒子植入和顱底三叉神經(jīng)痛射頻熱凝三種手術(shù)的診療手術(shù)機器人系統(tǒng)。本文主要圍繞顱頜面穿刺診療手術(shù)機器人系統(tǒng)的關(guān)鍵技術(shù)展開,重點研究了顱頜面穿刺診療手術(shù)機器人的機構(gòu)設(shè)計與優(yōu)化、基于力反饋的主從控制系統(tǒng)設(shè)計與實現(xiàn)、機器人運動學(xué)分析與軌跡規(guī)劃、軟組織穿刺斜偏控制以及實驗研究等。具體的創(chuàng)新工作如下:第一,針對手術(shù)臨床需求,在綜合考慮各種機器人構(gòu)型的基礎(chǔ)上,提出了一種面向頜面腫瘤穿刺活檢、頜面腫瘤放射性粒子植入和顱底三叉神經(jīng)痛射頻熱凝三種手術(shù)應(yīng)用的“一主體,三末端”的穿刺診療手術(shù)機器人方案,并分析了其正、逆運動學(xué)和工作空間,驗證了機器人設(shè)計的合理性。研制了一套具有自主知識產(chǎn)權(quán)的顱頜面穿刺診療手術(shù)機器人系統(tǒng)樣機。經(jīng)一系列實驗驗證,顱頜面穿刺診療手術(shù)機器人樣機平臺能夠滿足三種穿刺手術(shù)對機器人穩(wěn)定操作、精確定位、平穩(wěn)穿刺的要求。第二,根據(jù)臨床需求和機器人構(gòu)型,給出了顱頜面穿刺診療手術(shù)機器人控制系統(tǒng)的功能要求,提出了一種基于CAN總線技術(shù)的分布式主從力反饋控制系統(tǒng),并對整個控制系統(tǒng)進行了詳細(xì)設(shè)計和實現(xiàn)。根據(jù)機器人雙向力反饋的需要,提出了一種基于笛卡爾空間的逆雅克比主從控制方法和積分分離PID控制算法,并從系統(tǒng)的角度分析了整個機器人系統(tǒng)的安全性,建立了一種實用的多層安全監(jiān)控模型。經(jīng)驗證,整個控制系統(tǒng)達到了設(shè)計要求,為醫(yī)療手術(shù)機器人研發(fā)提供了技術(shù)借鑒。第三,穿刺針和軟組織之間的相互作用導(dǎo)致穿刺斜偏是引起穿刺誤差的主要原因之一,也是穿刺過程中普遍存在的問題。針對這個問題,本文分析了穿刺針與軟組織的相互作用,在此基礎(chǔ)上,對穿刺針彎曲引起的斜偏進行了定量估計,給出了估計方程,并提出了一種局部細(xì)化的軟組織變形仿真模型。在穿刺路徑規(guī)劃時,對目標(biāo)靶點的漂移量進行了預(yù)測補償。通過分析蚊子口針刺入皮膚的過程,基于蚊子口針振動穿刺的規(guī)律,提出了一種基于仿生行為的穿刺斜偏控制方法,在此基礎(chǔ)上設(shè)計了振動穿刺裝置,并進行了實驗分析,驗證了該技術(shù)的有效性。最后,對研制的顱頜面穿刺診療手術(shù)機器人系統(tǒng)進行了誤差分析,給出了減小機器人誤差的措施,并對機器人進行了參數(shù)標(biāo)定和誤差補償。對標(biāo)定后的機器人樣機,進行了重復(fù)定位精度測試、絕對定位精度測試,并通過聯(lián)調(diào)實驗,模擬頜面腫瘤放射性粒子植入手術(shù)實驗以及頭顱穿刺實驗,驗證了整個系統(tǒng)的有效性,為形成穩(wěn)定、安全、可靠的手術(shù)機器產(chǎn)品,夯實了基礎(chǔ)。
[Abstract]:The puncture operation has the advantages of small trauma, less bleeding, less pain and quick recovery. It is widely used in the fields of interventional therapy and biopsy. However, because of the complex anatomy of the craniofacial anatomy and the concentration of vascular nerve, the doctor's manual puncture operation can easily damage the important vascular nerve, the operation is difficult and the risk is high. The development of the medical operation robot is solved this Based on the national high technology research and development program (863 plan), this paper is based on the "precise and minimally invasive diagnosis and treatment robot system for the skull base and the facial deep area". In view of the problems existing in the craniofacial puncture operation, we can assist the doctors to carry out the biopsy of the maxillofacial tumor and the radioactive particles of the maxillofacial tumor. This paper mainly focuses on the key techniques of the craniofacial surgery robot system, focusing on the design and optimization of the craniofacial puncture diagnosis and treatment robot, and the design and implementation of the master and slave control system based on the force feedback, which are the key techniques of the craniofacial puncture diagnosis and treatment of the robot system. Robot kinematics analysis and trajectory planning, soft tissue puncture skew control and experimental research. The specific innovative work is as follows: firstly, on the basis of the comprehensive consideration of various robot configurations, a kind of maxillofacial tumor puncture biopsy, radioactive particle implantation of maxillofacial tumor and trigeminal nerve of the skull base on the clinical needs of the surgery. The "one body, the three end" of the three kinds of surgical procedures used to diagnose and treat the operation robot, and analyze its positive, inverse kinematics and working space, and verify the rationality of the robot design. A set of robotic system prototype with independent intellectual property right for craniofacial puncture diagnosis and treatment is developed. The prototype platform of craniofacial puncture diagnosis and treatment operation robot can meet the requirements of three kinds of puncture operation for stable operation, accurate positioning and smooth puncture. Second. According to the clinical requirements and robot configuration, the work requirements of the robot control system for craniofacial puncture diagnosis and treatment are given, and a kind of CAN bus technology is proposed. The whole control system is designed and implemented in detail. According to the needs of the bidirectional force feedback of the robot, an inverse Jacobian master and subordinate control method and an integral separation PID control algorithm based on Cartesian space are proposed, and the security of the whole robot system is analyzed from the angle degree of the system. A practical multi-layer security monitoring model is used. It is proved that the whole control system has reached the design requirements and provides a technical reference for the research and development of medical operating robot. Third, the interaction between needle and soft tissue leads to puncture deviation is one of the main causes of puncture error, and it is also a common problem in the process of puncture. In this paper, the interaction between the needle and the soft tissue is analyzed. On this basis, the skew deviation caused by the needle bending is quantitatively estimated, the estimation equation is given, and a soft tissue deformation simulation model with local refinement is proposed. The drift of the target target is predicted and compensated when the puncture path is ruled. By analyzing the process of needle puncture in the skin of mosquitoes, based on the law of the needle vibration puncture of the mosquito mouth needle, a method of deviation control based on the bionic behavior was put forward. On this basis, a vibration puncture device was designed, and the experimental analysis was carried out to verify the effectiveness of the technique. Finally, the developed craniofacial puncture diagnosis and treatment machine was developed. The error analysis of the human system is carried out, the measures to reduce the robot's error are given, and the parameters of the robot are calibrated and the error is compensated. The accuracy test of the repeated positioning, the absolute positioning accuracy test, and the simulation of the radioactive particle implantation and head of the maxillofacial tumor are carried out. The puncture test verified the effectiveness of the whole system, and laid a solid foundation for forming a stable, safe and reliable surgical machine product.
【學(xué)位授予單位】：北京理工大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2015
【分類號】：TP242.3
[Abstract]:The puncture operation has the advantages of small trauma, less bleeding, less pain and quick recovery. It is widely used in the fields of interventional therapy and biopsy. However, because of the complex anatomy of the craniofacial anatomy and the concentration of vascular nerve, the doctor's manual puncture operation can easily damage the important vascular nerve, the operation is difficult and the risk is high. The development of the medical operation robot is solved this Based on the national high technology research and development program (863 plan), this paper is based on the "precise and minimally invasive diagnosis and treatment robot system for the skull base and the facial deep area". In view of the problems existing in the craniofacial puncture operation, we can assist the doctors to carry out the biopsy of the maxillofacial tumor and the radioactive particles of the maxillofacial tumor. This paper mainly focuses on the key techniques of the craniofacial surgery robot system, focusing on the design and optimization of the craniofacial puncture diagnosis and treatment robot, and the design and implementation of the master and slave control system based on the force feedback, which are the key techniques of the craniofacial puncture diagnosis and treatment of the robot system. Robot kinematics analysis and trajectory planning, soft tissue puncture skew control and experimental research. The specific innovative work is as follows: firstly, on the basis of the comprehensive consideration of various robot configurations, a kind of maxillofacial tumor puncture biopsy, radioactive particle implantation of maxillofacial tumor and trigeminal nerve of the skull base on the clinical needs of the surgery. The "one body, the three end" of the three kinds of surgical procedures used to diagnose and treat the operation robot, and analyze its positive, inverse kinematics and working space, and verify the rationality of the robot design. A set of robotic system prototype with independent intellectual property right for craniofacial puncture diagnosis and treatment is developed. The prototype platform of craniofacial puncture diagnosis and treatment operation robot can meet the requirements of three kinds of puncture operation for stable operation, accurate positioning and smooth puncture. Second. According to the clinical requirements and robot configuration, the work requirements of the robot control system for craniofacial puncture diagnosis and treatment are given, and a kind of CAN bus technology is proposed. The whole control system is designed and implemented in detail. According to the needs of the bidirectional force feedback of the robot, an inverse Jacobian master and subordinate control method and an integral separation PID control algorithm based on Cartesian space are proposed, and the security of the whole robot system is analyzed from the angle degree of the system. A practical multi-layer security monitoring model is used. It is proved that the whole control system has reached the design requirements and provides a technical reference for the research and development of medical operating robot. Third, the interaction between needle and soft tissue leads to puncture deviation is one of the main causes of puncture error, and it is also a common problem in the process of puncture. In this paper, the interaction between the needle and the soft tissue is analyzed. On this basis, the skew deviation caused by the needle bending is quantitatively estimated, the estimation equation is given, and a soft tissue deformation simulation model with local refinement is proposed. The drift of the target target is predicted and compensated when the puncture path is ruled. By analyzing the process of needle puncture in the skin of mosquitoes, based on the law of the needle vibration puncture of the mosquito mouth needle, a method of deviation control based on the bionic behavior was put forward. On this basis, a vibration puncture device was designed, and the experimental analysis was carried out to verify the effectiveness of the technique. Finally, the developed craniofacial puncture diagnosis and treatment machine was developed. The error analysis of the human system is carried out, the measures to reduce the robot's error are given, and the parameters of the robot are calibrated and the error is compensated. The accuracy test of the repeated positioning, the absolute positioning accuracy test, and the simulation of the radioactive particle implantation and head of the maxillofacial tumor are carried out. The puncture test verified the effectiveness of the whole system, and laid a solid foundation for forming a stable, safe and reliable surgical machine product.
【學(xué)位授予單位】：北京理工大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2015
【分類號】：TP242.3
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