基于准确性和安全性的机器人辅助微创手术系统术前定位规划。
Preoperative positioning planning for a robot-assisted minimally invasive surgical system based on accuracy and safety.
机构信息
School of Mechanical and Electrical Engineering, Beijing Information Science and Technology University, Beijing, China.
Department of Head & Neck Surgery, Key Laboratory of Carcinogenesis and Translational Research (Ministry of Education/Beijing), Peking University Cancer Hospital & Institute, Beijing, China.
出版信息
Int J Med Robot. 2022 Aug;18(4):e2405. doi: 10.1002/rcs.2405. Epub 2022 May 2.
BACKGROUND
Minimally invasive robot-assisted techniques are being used increasingly in surgical procedures, and the preoperative preparation for this kind of operation is more complicated than traditional operations.
METHOD
Taking the placement requirements of minimally invasive thyroid surgery as the research object, taking the kinematic performance and safety of the manipulator as the optimization goal, a set of indexes and pendulums for evaluating the accuracy and safety of the manipulators are proposed accordingly.
RESULTS
The optimal preoperative positioning scheme is obtained based on Non dominated sorting genetic algorithm- II multi-objective genetic algorithm. Meanwhile, compared with the optimization results of Gaot genetics and the positional scheme given by the surgeon based on experience, the advantages of the scheme are proved to be obvious.
CONCLUSION
The scheme showed good performance in the comparison and proved the feasibility of the positional scheme in preoperative planning.
背景
微创机器人辅助技术在手术中应用越来越广泛，这种手术的术前准备比传统手术更为复杂。
方法
以微创甲状腺手术的置放要求为研究对象，以机械臂的运动性能和安全性为优化目标，提出了一套用于评估机械臂准确性和安全性的指标和摆锤。
结果
基于非支配排序遗传算法-II 多目标遗传算法，得到了最优的术前定位方案。同时，与 Gaot 遗传算法的优化结果和基于经验的外科医生给出的定位方案相比，该方案的优势明显。
结论
该方案在比较中表现出良好的性能，证明了术前规划中定位方案的可行性。
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