• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2018, Vol. 54 ›› Issue (17): 69-75.doi: 10.3901/JME.2018.17.069

• 特邀专栏:精准微创手术器械创成与制造基础 • 上一篇    下一篇

扫码分享

基于术中轨迹的微创手术机器人的主从映射比例评估

李政1, 王国慧1, 凌颢1, 张国凯2, 李炜3, 周仲荣3, 王树新2, 朱晒红1   

  1. 1. 中南大学湘雅三医院 长沙 410013;
    2. 天津大学机构理论与装备设计教育部重点实验室 天津 300350;
    3. 西南交通大学材料先进技术教育部重点实验室 成都 610031
  • 收稿日期:2018-01-04 修回日期:2018-05-15 出版日期:2018-09-05 发布日期:2018-09-05
  • 通讯作者: 朱晒红(通信作者),男,1964年出生,博士,教授,博士研究生导师。主要研究方向为手术机器人界面、映射关系与能量平台、生物安全性。E-mail:zhushaihong@medmail.com.cn
  • 作者简介:李政,男,1985年出生,博士。主要研究方向为手术机器人的行为模式与映射关系。E-mail:swiftjeff@163.com
  • 基金资助:
    国家重点研发计划(2017YTC0110402)、国家自然科学基金(51290295)和湖南省自然科学基金(2017JJ3388)资助项目。

Evaluation of Master/Slave Mapping Proportion of Minimally Invasive Surgery Robot Based on Intraoperative Trajectory

LI Zheng1, WANG Guohui1, LIN Hao1, ZHANG Guokai2, LI Wei3, ZHOU Zhongrong3, WANG Shuxin2, ZHU Shaihong1   

  1. 1. The Third Xiangya Hospital, Central South University, Hunan 410013;
    2. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300350;
    3. Key Laboratory for Advanced Technology of Materials of Ministry of Education, Southwest Jiaotong University, Chengdu 610031
  • Received:2018-01-04 Revised:2018-05-15 Online:2018-09-05 Published:2018-09-05

摘要: 主从式手术机器人映射关系的设计与优化是提高术者操作效率,减少手术疲劳的关键步骤之一,过去通常依靠机器人搭建完成后基于实体手术平台进行评价,延长了研发周期。以微创手术机器人映射关系为研究对象,选择胆囊切除术作为采样标本,运用微型传感通过临床手术实际测量获得典型器械运动轨迹,综合分析得出手术安全域内运动范围,并运用人机工程分析平台DELMIA,采用我国国家标准人体测量数据为人体建模参数,建立国人典型人体运动模型,通过设定不同映射比例,基于反向运动学计算获得手术机器人环境下典型手术过程中术者姿势与上肢运动轨迹,应用RULA分析对不同映射比例下术者的双侧上肢的疲劳程度进行评估,从而获取特定映射关系下人机界面最佳的映射比例,为微创手术机器人针对人机界面优化的设计制造提出了新的评价方法,为缩短器械设计修改流程、加快器械开发速度提出了新的途径。

关键词: 手术机器人, 术中轨迹, 映射关系

Abstract: The purpose of design and optimization for master-slave surgical robot mapping strategy is to improve the operating efficiency of the surgeon and to reduce surgical fatigue. One of the key steps of the evaluation in the past usually rely on the completion of the physical robot surgery platform, which takes lots of time. The mapping strategy of minimally invasive surgical robotic instruments is taken as the research object. Cholecystectomy is selected as the sample, micromotion is used to obtain the typical locomotion trajectory of the typical instruments through operation. The range of movement in the operative safety zone is obtained through comprehensive analysis. Based on the establishment of a typical Chinese human motion model on engineering analysis platform DELMIA, the trajectory of the upper limbs and the effects of different mapping ratio based on inverse kinematics were calculated. The RULA analysis is used to evaluate the degree of fatigue of the bilateral upper limbs under different mapping ratios to obtain the best mapping ratio of the human-machine interface in a specific mapping strategy. Optimized design and manufacturing put forward a new evaluation method, which provides a new way to shorten the process of instrument design and modification and speed up the development of equipment.

Key words: intraoperative trajectory, mapping strategy, surgical robot

中图分类号: