具有力反馈的新型血管介入手术机器人操作安全性预警机制研究

The surgeon couldn’t get the similar feeling of telepresence in conventional minimally invasive interventional surgery, which is the major problem that impedes the application of interventional surgical robotic system. How to break through the existing application limits of interventional surgical robotic system, it is a problem which need to be solved urgently to improve the safety during operating vascular interventional surgical robot, to transmit the real force and tactile information and organizations deformation between surgical instruments and organizations to the surgeon. To focus on the Early Warning Mechanism of Operation Safety problem of vascular interventional surgical robot, the project researches on the force feedback control of surgical manipulator, the master-slave control theory and the mechanism and method of force feedback, to reappear the feedback information at surgeon’s side and to improve the operational transparency of information for the interventional surgical robotic system, in order to improve the operational transparency of information for the interventional surgical robotic system, the problems need to be solved are as follows: 1. To realize the force interaction mechanism of the surgery end executor and transmission of tactile perception. 2. To realize the integrative design method of the surgical instruments, and master-slave bilateral control strategy of force feedback. 3. To ascertain the characteristics and properties of information perception and interaction during the natural surgical operation process, to realize human-machine collaborative operation. Therefore, it has important scientific significance to solve the problem of lack of operation transparency in an interventional surgical robotic system which carry out the research on the Early Warning Mechanism of Operation Safety problem of the interventional surgical robotic system, and break through the limitations of the existing information feedback technology.

医生无法获得传统手术中相同临场感受是目前制约介入手术机器人在临床上应用的主要难题。如何突破手术机器人现有应用限制，将器械与组织间的力觉信息、触觉信息、组织变形等信息真实传递给医生，提高介入手术机器人操作过程中安全性，是一个急需解决的问题。本项目针对血管介入手术机器人操作安全性预警机制这一问题，研究手术执行器力反馈控制、主从控制理论及力反馈机制和方法，在医生端再现反馈信息，提高手术机器人操作过程中信息感知交互透明性。要提高手术机器人系统操作透明性，需要研究和解决的问题包括：1、实现手术末端执行器的力交互作用机理及触觉感知传递。2、实现一体化手术器械设计方法及主从双边力反馈控制策略。3、探明医生自然手术操作过程中信息感知交互的特征和属性，实现人机协同操作。因此，开展介入手术机器人操作安全性预警机制研究，突破现有信息反馈技术局限性，对解决介入手术机器人系统操作透明性缺乏的问题具有重要的科学意义。

血管介入手术机器人可以辅助医生以更加高效，更加安全的方式完成血管介入手术，而且还能保护医生免受X-射线的伤害。目前的血管介入手术机器人研究中，仍然存在着缺乏导管导丝协同操作能力和缺少符合医生操作习惯且带有触觉反馈的主端操作器的问题。本课题设计了可继承医生传统操作技能的导管导丝协同操作的介入手术机器人系统，实现了主从跟踪控制方法与双边力反馈控制策略，实现了人机协同操作；实现了手术末端执行器的力交互作用机理及触觉感知传递，解决了血管介入手术机器人系统中医生无法获得传统手术中相同的临场感受这一制约临床应用的难题，提高介入手术机器人操作过程中安全性，实现了介入手术机器人操作安全性预警机制与控制策略，突破了现有信息反馈技术局限性，对解决介入手术机器人系统操作透明性缺乏的问题具有重要的科学意义。.通过模拟实验验证所提出的血管介入手术机器人系统的可行性。实验结果表明所设计的血管介入手术机器人系统操作导管的主从运动跟踪轴向运动平均误差为0.45mm，轴向最大误差为0.9mm，径向平均误差为1.39°，径向最大误差为2.2°。操作导丝的轴向运动平均误差为0.58mm，轴向最大误差为1.1mm，径向平均误差为1.71°，径向最大误差为2.4°。主从端导管力反馈最大误差为29mN，主从端导丝力反馈最大误差为25mN。.该项目成果对于血管介入手术机器人的临床应用的产品研发具有重要的理论及实际意义，应用前景十分广阔。