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机器人辅助微创手术的三维碰撞避免方法

Three-Dimensional Collision Avoidance Method for Robot-Assisted Minimally Invasive Surgery.

作者信息

Li Ling, Li Xiaojian, Ouyang Bo, Mo Hangjie, Ren Hongliang, Yang Shanlin

机构信息

School of Management, Hefei University of Technology, Hefei, China.

Key Laboratory of Process Optimization and Intelligent Decision-Making (Ministry of Education), Hefei University of Technology, Hefei, China.

出版信息

Cyborg Bionic Syst. 2023 Aug 30;4:0042. doi: 10.34133/cbsystems.0042. eCollection 2023.

DOI:10.34133/cbsystems.0042
PMID:37675200
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC10479965/
Abstract

In the robot-assisted minimally invasive surgery, if a collision occurs, the robot system program could be damaged, and normal tissues could be injured. To avoid collisions during surgery, a 3-dimensional collision avoidance method is proposed in this paper. The proposed method is predicated on the design of 3 strategic vectors: the collision-with-instrument-avoidance (CI) vector, the collision-with-tissues-avoidance (CT) vector, and the constrained-control (CC) vector. The CI vector demarcates 3 specific directions to forestall collision among the surgical instruments. The CT vector, on the other hand, comprises 2 components tailored to prevent inadvertent contact between the robot-controlled instrument and nontarget tissues. Meanwhile, the CC vector is introduced to guide the endpoint of the robot-controlled instrument toward the desired position, ensuring precision in its movements, in alignment with the surgical goals. Simulation results verify the proposed collision avoidance method for robot-assisted minimally invasive surgery. The code and data are available at https://github.com/cynerelee/collision-avoidance.

摘要

在机器人辅助微创手术中，如果发生碰撞，机器人系统程序可能会受损，正常组织也可能会受到损伤。为避免手术过程中发生碰撞，本文提出了一种三维碰撞避免方法。该方法基于三个策略向量的设计：器械碰撞避免（CI）向量、组织碰撞避免（CT）向量和约束控制（CC）向量。CI向量划定了三个特定方向，以防止手术器械之间发生碰撞。另一方面，CT向量由两个组件组成，旨在防止机器人控制的器械与非目标组织发生意外接触。同时，引入CC向量以将机器人控制的器械端点引导至期望位置，确保其运动精度与手术目标一致。仿真结果验证了所提出的机器人辅助微创手术碰撞避免方法。代码和数据可在https://github.com/cynerelee/collision-avoidance获取。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f351/10479965/fdca14078340/cbsystems.0042.fig.011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f351/10479965/b7bc1ef30cf4/cbsystems.0042.fig.001.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f351/10479965/3873c622a3c1/cbsystems.0042.fig.004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f351/10479965/cda73ca3e534/cbsystems.0042.fig.005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f351/10479965/91583077c555/cbsystems.0042.fig.006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f351/10479965/804152068949/cbsystems.0042.fig.007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f351/10479965/415ce59c3fb5/cbsystems.0042.fig.008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f351/10479965/00fa47e2eddf/cbsystems.0042.fig.009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f351/10479965/89f3f073b683/cbsystems.0042.fig.010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f351/10479965/fdca14078340/cbsystems.0042.fig.011.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f351/10479965/d456b4c54473/cbsystems.0042.fig.002.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f351/10479965/3873c622a3c1/cbsystems.0042.fig.004.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f351/10479965/91583077c555/cbsystems.0042.fig.006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f351/10479965/804152068949/cbsystems.0042.fig.007.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f351/10479965/fdca14078340/cbsystems.0042.fig.011.jpg

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本文引用的文献

[1]
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[2]
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[3]
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Int J Med Robot. 2020-10

[4]
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Urol Oncol. 2019-1-8

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