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  2025年4月4日 星期五  
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中国生物医学工程学报  2023, Vol. 42 Issue (3): 311-320    DOI: 10.3969/j.issn.0258-8021.2023.03.007
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图像引导下的遥操作脑室穿刺手术机器人
杨晓涵1, 孙振1, 齐岩松2*, 王君臣1*
1(北京航空航天大学机械工程及自动化学院,北京 110191)
2(内蒙古自治区人民医院骨关节科(运动医学中心), 呼和浩特 010017)
Image-Guided Tele-Operated Robotic Ventricular Puncture System
Yang Xiaohan1, Sun Zhen1, Qi Yansong2*, Wang Junchen1*
1(School Mechanical Engineering and Automation, Beihang University, Beijing 100191, China)
2(Department of Orthopedics (Sports Medicine Center), Inner Mongolia People's Hospital, Hohhot 010017, China)
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摘要 脑室穿刺引流手术是颅脑损伤急救的重要手段。但该术式存在颅骨开孔费时费力、有经验医师缺乏时难以实施等问题。为了简化急救流程、降低急救手术要求,研制了图像引导下的遥操作脑室穿刺手术机器人系统。该系统包括遥操作穿刺执行器系统、机械臂、术前规划系统和视觉导航系统。采用压力传感器差分式布局设计基于EtherCAT总线的颅骨穿刺执行器;使用基于B样条变换的可变性配准在CT、MR融合图像上进行手术规划和视觉导航;在双目视觉引导下使7自由度冗余机械臂按照术前规划的路径以指定的姿态定位颅骨穿刺执行器到起始位置;采用人在环操作模式,使用视觉化工具函式库(VTK)对操作可视化,在视觉与力觉双重反馈下进行颅骨穿刺。针对3D打印颅骨模型进行穿刺实验,表明机器人穿刺误差为0.74 mm;针对一条比格犬进行动物实验,表明穿刺误差1.22 mm,与经验丰富的急救医生操作精度相当,表明该机器人有一定的临床应用潜力。
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杨晓涵
孙振
齐岩松
王君臣
关键词 脑室穿刺引流术力反馈图像配准遥操作机器人手术    
Abstract:Ventricular puncture and drainage is an important first aid method for craniocerebral injury. However, there are some problems such as time-consuming and labour-intensive craniotomy, and difficult to perform without experiencedsurgeons. In order to simplify the first aid process and reduce the requirements of emergency surgery, an image-guided teleoperation ventricular puncture robot system was developed. The system included a teleoperation puncture actuator system, a robotic arm, a preoperative planning system, and a visual navigation system. The pressure sensor differential layout was used to design the skull puncture actuator based on EtherCAT bus. Variability registration based on B-spline transformation was used for surgical planning and visual navigation on CT and MR fused images. Under the guidance of binocular vision, the 7 degree of freedom redundant robotic arm was used to locate the skull puncture actuator to the starting position according to the preoperative planning path and the specified attitude. The operation was visualized by visual tool library (VTK) in human-in-loop operation mode, and the skull puncture was performed under double feedback of visual and force perception. The puncture experiment on the 3D printed skull model showed that the puncture error of the robot was 0.74 mm. Animal experiments on a beagle dog showed that the puncture error was 1.22 mm, which was comparable to the accuracy of experienced emergency physicians, indicating that the robot held the potential for clinical application.
Key wordsventricular puncture    force feedback    image registration    teleoperation    robotic surgery
收稿日期: 2022-08-17     
PACS:  R318  
基金资助:国家重点研发计划(2022YFC2405401);国家自然科学基金(62173014);北京市自然科学基金海淀联合基金(L222105)
通讯作者: * E-mail: malaqinfu@126.com;wangjunchen@buaa.edu.cn   
引用本文:   
杨晓涵, 孙振, 齐岩松, 王君臣. 图像引导下的遥操作脑室穿刺手术机器人[J]. 中国生物医学工程学报, 2023, 42(3): 311-320.
Yang Xiaohan, Sun Zhen, Qi Yansong, Wang Junchen. Image-Guided Tele-Operated Robotic Ventricular Puncture System. Chinese Journal of Biomedical Engineering, 2023, 42(3): 311-320.
链接本文:  
http://cjbme.csbme.org/CN/10.3969/j.issn.0258-8021.2023.03.007     或     http://cjbme.csbme.org/CN/Y2023/V42/I3/311
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