本文關(guān)鍵詞： 穿刺機(jī)器人 立體定位手術(shù) 刺針檢測 穿刺實(shí)驗(yàn)　出處：《浙江大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：微創(chuàng)手術(shù)憑借其出血少,術(shù)后感染率低,并發(fā)癥少,疤痕小等優(yōu)點(diǎn)在過去的30年里得到了迅速發(fā)展。作為微創(chuàng)手術(shù)中常見而重要的一環(huán),穿刺過程通常會直接影響到手術(shù)質(zhì)量。由機(jī)器人來完成穿刺手術(shù)可以提升操作精度,減輕人手震顫以及消除醫(yī)生輻射風(fēng)險,具有很大的研究價值。本文主要對針對穿刺手術(shù)使用的機(jī)器人系統(tǒng)作一系列開發(fā)研究。其主要內(nèi)容包括主要包括以下幾部分。(1)搭建穿刺機(jī)器人硬件平臺在對比串聯(lián)機(jī)械臂在實(shí)現(xiàn)遠(yuǎn)端中心運(yùn)動的基礎(chǔ)上,提出了具有遠(yuǎn)端運(yùn)動中心機(jī)構(gòu)的穿刺機(jī)器人設(shè)計(jì)。該穿刺機(jī)器人采用了模塊化的設(shè)計(jì),由用以定位的笛卡爾坐標(biāo)系式移動平臺,用以姿態(tài)調(diào)整的遠(yuǎn)端轉(zhuǎn)臂和用以穿刺的穿刺進(jìn)針單元三個獨(dú)立部分構(gòu)成。(2)穿刺機(jī)械人運(yùn)動規(guī)劃與控制通過運(yùn)動學(xué)模型與運(yùn)動空間的分析,討論了機(jī)器遠(yuǎn)端中心機(jī)構(gòu)在穿刺場景下的應(yīng)用優(yōu)勢。并基于弧形轉(zhuǎn)臂本身立體定位的設(shè)計(jì),通過為轉(zhuǎn)臂增加兩枚點(diǎn)字激光器的方法,提出了一種新穎的進(jìn)針點(diǎn)對準(zhǔn)方法。該方法可在僅有單一攝像頭的情況下,通過約束機(jī)器進(jìn)行定向運(yùn)動,達(dá)到進(jìn)針點(diǎn)的快速對準(zhǔn),因而解除了在進(jìn)針點(diǎn)對準(zhǔn)過程中對商用定位器的依賴。(3)穿刺過程監(jiān)測與穿刺實(shí)驗(yàn)本機(jī)器設(shè)計(jì)為手術(shù)中與手術(shù)床正位與側(cè)位的兩臺X光影像下配合使用。為更好地輔助穿刺前的路徑對準(zhǔn),本文提出了基于圖像的穿刺針跟蹤方法。該方法選用直線段來描述刺針。結(jié)合采用傳統(tǒng)的概率霍夫變換與一定的先驗(yàn)知識,實(shí)現(xiàn)了穿刺針在進(jìn)針過程當(dāng)中的動態(tài)跟蹤,并在兩側(cè)影像的離線視頻中進(jìn)行了方法的驗(yàn)證。另外,本文還分析了穿刺過程中的受力模型,并通過機(jī)器人對離體組織的穿刺試驗(yàn)進(jìn)行了模型驗(yàn)證。
[Abstract]:Minimally invasive surgery has developed rapidly in the past 30 years with its advantages of less bleeding, low infection rate, less complications and small scar. It is a common and important part of minimally invasive surgery. The puncture process usually has a direct impact on the quality of the operation. The robot can improve the accuracy of the operation, reduce the tremor of the hands and eliminate the risk of the doctor's radiation. This paper mainly focuses on a series of research on the robot system used in puncture surgery. The main contents include the following parts. The hardware platform of the puncture robot is built on the basis of the remote center motion of the serial manipulator. The design of a puncture robot with a remote motion center mechanism is presented. The design of the puncture robot is modular and is based on the Cartesian coordinate system mobile platform used to locate the robot. The distal rotation arm for posture adjustment and the puncture needle unit for puncture consist of three independent parts, I. e., the motion planning and control of the puncture robot through kinematics model and the analysis of motion space. This paper discusses the application advantage of the machine remote center mechanism in the puncture scene, and based on the design of the stereo positioning of the arc arm itself, the method of adding two Braille lasers for the rotating arm is introduced. In this paper, a novel method of needle point alignment is proposed, which can achieve fast alignment of the point of entry by constraining the machine's directional motion under the condition of only a single camera. Therefore, the dependence on the commercial locator in the process of needle point alignment is removed. The machine is designed to be used in combination with two X-ray images of the positive and lateral position of the operation bed in order to better assist the alignment of the puncture path. In this paper, an image based tracking method is proposed, in which straight line segments are used to describe the needle, which combines the traditional probabilistic Hough transform with a certain prior knowledge. The dynamic tracking of the puncture needle in the process of needle entry is realized, and the method is verified in the off-line video of both sides of the image. In addition, the force model in the process of puncture is also analyzed in this paper. The model was verified by the robot.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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