Design of Intelligent Neuronavigation Surgical Robot System Based on Compliance Control
Wang Jie1,2, Chen Xinrong1,2*, Song Zhijian2,3#*
1(Academy for Engineering & Technology, Fudan University, Shanghai 200433, China) 2(Shanghai Key Laboratory of Medical Image Computing and Computer Assisted Intervention, Shanghai 200032, China) 3(Digital Medical Research Center, School of Basic Medical Science, Fudan University, Shanghai 200032, China)
Abstract：Robot-assisted minimally invasive surgery has become more and more popular due to its low invasiveness. However, the disorientation and lack of navigational information limit its further applications in natural orifice surgery. Due to the slender and complicated anatomical structure, the surgical instruments of the robotic end effector are prone to injure surrounding tissues during surgical approaches. An intelligent control and navigational surgical robot system was proposed in this paper. The system featured clinical considerations and was designed to provide reliable and safe preoperative and intraoperative positioning. The inverse kinematics strategy with avoiding joint angle limitation ensured that the 7-DOF robot could achieve high flexibility and strong mobility. The system utilized preoperative CT or MRI data of patients for surgical navigation and surgical planning, simultaneously, to avoid damaging the normal tissue of the patient, a compliance control strategy was introduced to control the interaction force between the patient and the surgical instruments to a small range. To improve the surgical accuracy and relieve the doctor′s workload, the intelligent voice control module realized the micro adjustment of surgical instruments. Phantom and cadaver studies were both conducted to evaluate the effectiveness of the proposed system. The experiments results showed that the positioning error of this system was less than 1 mm, and the tracking angle error was less than 2.5 °. Intraoperative navigation can perform real-time surgical target and instrument tracking, and impedance compliance control reduced the contact force between surgical instruments and patients below 1.2 N. Fine tuning based on speech recognition could meet the requirements of intraoperative motion control of surgical instruments. In conclusion, the designed system has broad application prospects in robot-assisted minimally invasive surgery.
王杰, 陈欣荣, 宋志坚. 基于柔顺控制的智能神经导航手术机器人系统设计[J]. 中国生物医学工程学报, 2024, 43(4): 455-466.
Wang Jie, Chen Xinrong, Song Zhijian. Design of Intelligent Neuronavigation Surgical Robot System Based on Compliance Control. Chinese Journal of Biomedical Engineering, 2024, 43(4): 455-466.
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