人机协同脑室穿刺引流机器人设计及实验验证

Design of human-machine collaborative ventricular puncture robot and experiment validation

目的:研发一款人机协同脑室穿刺引流机器人,实现战场脑室穿刺减压快速处置。方法:该脑室穿刺引流机器人依据力反馈原理和半自动控制穿刺技术实现真正力控下的自主穿刺和穿刺过程的精确控制,主要由KUKA iiwa/med机械臂、穿刺末端执行器、控制系统和视觉伺服系统组成。采用3D打印头骨模型和动物实验对脑室穿刺引流机器人样机的穿刺性能进行验证。结果:头骨模型实验表明,采用脑室穿刺引流机器人样机进行颅内脑室穿刺引流的目标点定位精度为0.12 mm、穿刺精度为0.71 mm、穿刺成功率为100%。动物实验表明,采用脑室穿刺引流机器人样机进行比格犬脑室穿刺引流的穿刺误差为(1.22±0.62)mm,手术用时≤15 min。结论:采用该脑室穿刺引流机器人进行脑室穿刺引流术穿刺精度高、手术效果好、操作时间短且易操作,能满足战场颅脑损伤快速救治的需要。

Objective To develop a human-machine collaborative ventricular puncture robot for rapid ventricular puncture and decompression in the battlefield. Methods A human-machine collaborative ventricular puncture robot was designed composed of a KUKA iiwa/med robotic arm, a puncture end effector, a control system and a visual servo system, which achieved force-controlled autonomous puncture and precise control of the puncture process based on the force feedback principle and semi-automatically controlled puncture technology. The puncture performance of the prototype robot was verified using a 3D printed skull model and animal experiments. Results The skull model experiments showed that the target point localization accuracy of the intracranial ventricular puncture and drainage using the prototype robot was 0.12 mm, the puncture accuracy was 0.71 mm, and the puncture success rate was 100%. Animal experiments proved that the puncture error of ventricular puncture and drainage in Beagle dogs was(1.22±0.62) mm, and the operation time was not longer than 15 min.Conclusion The ventricular puncture and drainage robot gains high puncture accuracy, high surgical effect, short operation time and easy operation when used to perform ventricular puncture and drainage, and can meet the needs of rapid treatment of craniocerebral injury in battlefield. [Chinese Medical Equipment Journal,2022,43(6):18-24,30]