基于非均匀切口连续体的单孔微创手术机器人机构综合与控制方法研究

Continuum manipulators featuring excellent dexterity and flexibility in constrained environment, have attracted more and more attention in the field of robotic minimally invasive surgeries, especially in the single-port robotic minimally invasive surgery. However, due to the continuum manipulator low stiffness and nonlinear deformation, the deformation cannot be formulated explicitly and the system control models are also complicated, which limits its application in minimally invasive surgeries. In this proposal, it will be attempted to break through the limits of the past concepts and achieve innovative design and results on following points, e.g., deformation modeling, mechanism synthesis, operation sensing, and control methodology. Several key research issues are involved in this proposed research, i.e., the deformation law of the continuum manipulator based on the non-uniform notches, the mechanism synthesis of the continuum manipulator considering the contact constraints between the robot and the tissue, the actuation and sensing integrated modeling based on the manipulator mechanics, and the compliant control methodology for the continuum manipulator with non-uniform notches. This proposed research is attempting to solve several critical scientific issues and technique bottlenecks, which will provide detailed references and solid fundamentals to the integrated and applied research of single-port surgical robots.

连续体机械臂具有较高的运动灵活性和受限空间内的环境适应能力，在小型腹腔微创外科手术机器人系统，特别是单孔腔内微型手术机器人系统中得到了广泛关注。但是，由于连续体机器人系统刚度低、形变非线性等问题，导致形变难以显式表达、系统控制器复杂，从而限制了连续体机器人在实际手术中的应用。课题在前期研究工作的基础上，针对均匀切口连续体存在的非等曲率变形、刚度低、控制困难等问题，提出基于非均匀切口连续体建立多冗余度器械臂的思想，重点研究非均匀切口形式连续体多冗余度器械臂的变形规律和表达方式，降低控制模型的复杂度；同时基于“生-机”接触刚度约束的连续体器械臂的机构综合方法保障系统的刚度；并基于驱动/传感一体化的建模思想实现力觉感知和柔顺控制。本课题的研究将解决目前基于连续体机械臂的若干理论瓶颈问题，为单孔微创手术机器人实用化系统的集成研究和应用研究奠定理论和技术基础。

单孔手术是一种在人体表面开一个创口的微型手术，它与传统的多孔手术相比能够降低手术的创伤、提高患者的治愈率、降低术后感染的风险，为患者降低医疗成本。. 本课题针对当前微创外科手术中，医生长时间手术造成手术效果随时间持续下降的问题，将机器人融合到外科手术中，构建适用于狭窄手术腔道的连续体单孔手术机器人，并对该手术机器人的基础理论和关键共性技术展开研究。课题针对外科手术对手术器械小型化、集成化的特定需求，开展集成度高的连续体器械臂的研究。并对连续体单孔手术机器人关键技术展开了前沿性研究，包括系统的力学建模、非均匀切口模型的构建、连续体机械臂的控制模型搭建、系统的迟滞效应及系统的力感知能力的研发，并通过相应的实验验证了关键技术的准确性。. 课题共发表学术论文10篇，其中SCI论文5篇（包括工程技术类TOP期刊IEEE-ASME TRANSACTIONS ON MECHATRONICS），EI收录论文5篇；受理国家发明专利5项；培养博士研究生4人（其中两人已毕业），硕士研究生3人。本课题的研究对研发新型的专科型手术机器人提供了有益的探索和支持，对我国的医疗机器人领域的发展具有重要的理论价值和实际意义。