北京生物醫(yī)學(xué)工程

肝腫瘤熱消融機器人定位導(dǎo)航系統(tǒng)的研究

Research on robot positioning and navigation system for thermal ablation of liver tumors

作者：李文科吳薇薇伍國林周著黃吳水才

單位：北京工業(yè)大學(xué)環(huán)境與生命學(xué)部(北京100124) 首都醫(yī)科大學(xué)生物醫(yī)學(xué)工程學(xué)院(北京100069) 通信作者：吳水才。E-mail： [email protected]. cn；吳薇薇。E-mail: [email protected]

關(guān)鍵詞：腫瘤;熱消融;手術(shù)路徑規(guī)劃；手術(shù)導(dǎo)航;機器人定位；系統(tǒng)設(shè)計

分類號：R318. 6

出版年·卷·期（頁碼）：2021·40·6（591-597）

摘要：

目的設(shè)計一種結(jié)合計算機輔助手術(shù)路徑規(guī)劃、電磁定位和機器人技術(shù)的肝腫瘤熱消融機器人定位導(dǎo)航系統(tǒng)，利用機械臂將消融針精準(zhǔn)定位在規(guī)劃的進(jìn)針路徑上。方法將介入熱消融治療的臨床需求量化為多項約束條件，使用加權(quán)求和方法求解多目標(biāo)優(yōu)化問題，實現(xiàn)計算機輔助手術(shù)路徑規(guī)劃。導(dǎo)航定位系統(tǒng)中存在多個坐標(biāo)系，使用基于成對點集配準(zhǔn)的奇異值分解算法完成空間坐標(biāo)轉(zhuǎn)換，將規(guī)劃的手術(shù)路徑映射到機器人坐標(biāo)系下。構(gòu)建機械臂目標(biāo)位置和姿態(tài)矩陣，利用運動學(xué)方法求解各關(guān)節(jié)角度,從而將機械臂定位在規(guī)劃的進(jìn)針路徑上。最后以本文設(shè)計的導(dǎo)航系統(tǒng)作為穿刺實驗組，常規(guī)穿刺方法作為對照組，利用腹部體模進(jìn)行系統(tǒng)精度驗證。結(jié)果使用本系統(tǒng)進(jìn)行穿刺的平均進(jìn)針誤差 (1.11mm)、平均進(jìn)針次數(shù)(1次)、平均進(jìn)針時間(11.4s)都明顯優(yōu)于常規(guī)的穿刺方法(5. 38 mm、4. 6 次、62. 2 s)。結(jié)論基于圖像處理、電磁定位和機器人技術(shù)構(gòu)建的熱消融機器人定位導(dǎo)航系統(tǒng)能夠降低手術(shù)穿刺難度,提高消融治療效率。

Objective The purpose of this study is to design a robotic system combined with the computer-aided surgical path planning, electromagnetic positioning and the robot technology to accurately guide the needle to the designed ablation path. Methods The clinical requirements of ablation are quantified as constraints, and we use weighted sum method to solve multi-objective optimization problem. Then we program the surgical plan assisted by computer. There are several coordinate systems in the navigation and positioning system, and we use pairing point based on SVD matrix decomposition to complete spatial coordinate transformation. Then we complete the transformation from the image coordinate system to robot coordinate system. We calculate the position and posture of the robot, and inverse kinematics is used to calculate the angle value of each joint. Then we control the robot to the planned position. Finally ,the accuracy of the system is verified by the phantom. The system designed in this paper is used as the experimental group, and the conventional method is used as the control group. Results The average needle error of puncture by using this system ( 1.11 mm), average operation times (just once) and average time of the system (11.4 s) are both better than the conventional puncture method (5. 38 mm,4. 6 times,62. 2 s). Conclusions The robotic system which integrates the image processing and electromagnetic positioning can decrease the difficulty of treatment and improve the treatment efficiency.

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