基于虚拟安全操作平面的机器人粒子植入规划方法与实验研究

Seed implantation planning method and experimental study of robot based on virtual safety operation plane

采用机器人辅助医生完成粒子植入手术,其机器人末端定位精度、安全操作性能以及自动化程度,对临床应用有非常重要的意义。本文在搭建了粒子植入机器人实验系统的基础上,研究了机器人位置闭环控制算法,并提出了一种基于虚拟安全操作平面的粒子植入规划方法,该方法避免机器人操作事故和减小手术时间、能耗。结合虚拟安全操作平面策略、Hopfield神经网络最短路径搜索以及6步循环粒子植入运行程序这3个过程,设计了安全可靠、人机协助的智能化前列腺粒子植入机器人控制系统上位机控制软件。完成了粒子植入精度评估实验,粒子在x向放置精度相对较高,在y向和z向位置误差分别为0. 25mm和0. 34mm,粒子整体的放置精度误差为0. 84mm,粒子植入操作时间(和医生对比)减小了60%左右。

In the process of assisting doctors to complete the seed implantation surgery by robots,the positioning accuracy,safe operation performance and degree of automation of the robot is very important for clinical application. In this paper,the robot position closed-loop control algorithm is studied. In order to avoid operation accident,reduce the surgery time and energy consumption,a seed implantation planning method based on virtual safety operation plane is proposed. Based on the three steps of the safety plane operation strategy,the shortest path search using Hopfield neural network and the 6-step circular and automatic seed implantation program,a safe and reliable manmachine intelligent PC control software of prostate seed implantation robot is designed. Seed implantation accuracy evaluation experiment are carried out. The seeds have a relatively high accuracy in the direction of x,and the position error of y and z is 0. 25 mm and 0. 34 mm respectively. The overall positioning accuracy error is 0. 84 mm,and the seeds insertion time（ compared to doctors＇ operation） is reduced by about 60%.