摘要
穿刺活检手术作为多种疾病早期诊断最常用的技术之一,需要将一根细长的穿刺针刺入组织以获取组织标本,因此,穿刺路径的安全性和精确性对活检手术准确率和术后恢复至关重要.针对机器人辅助下的穿刺活检手术,本文提出了一种基于代价地图的穿刺路径规划方法.首先,将包含三维规划空间大小、空间中障碍物位置、形状等信息的原始地图作为输入,根据人工势能场理论构建代价地图,以定量评估障碍物以外空间的风险程度.其次,考虑带有斜尖的穿刺针插入组织中产生的实际偏转,采用非完整运动学模型作为穿刺针的偏转预测模型.在模拟解剖结构特征的障碍物环境下,使用代价地图计算可行入刺区域中不碰撞穿刺路径的代价值,并采用模拟退火算法进行优化,获得安全可行的穿刺路径以指导机器人执行的自动穿刺过程.最后,在自制的仿生模型中设计模体实验,分别按照传统直线穿刺路径和本文规划方法得出的安全穿刺路径执行自动穿刺操作.实验表明,按照规划路径进行穿刺的实际穿刺路径与规划路径较为相符,靶点穿刺误差在1.5 mm以内,较传统直线路径穿刺精度提高80%以上,且较临床的靶点穿刺误差(5.5~5.6 mm)有明显降低.实验结果表明该运动规划方法能够为机器人辅助下的自动穿刺手术规划出安全合理的穿刺路径,有效提高自动穿刺手术的安全性和精确性.
Needle biopsy is one of the most commonly used techniques in the diagnosis of several diseases.A slender puncture needle is inserted into the tissue to get a tissue specimen.Therefore,the safety of the needle path and the accuracy of puncture are crucial to the accuracy of biopsy surgery and postoperative recovery.For robot-assisted biopsy surgery,this study proposed a path planning method based on the cost map.First,the original map containing the size of the three-dimensional planning space,location,and shape of obstacles in the space was taken as input.A cost map was constructed based on an artificial potential field to assess the degree of risk in the space beyond the obstacle.The actual deflection of the needle with a beveled tip during its insertion into the tissue was then considered.A non-holonomic kinematics model was used as the needle deflection prediction model.The cost value of the non-collision puncture path in a feasible insertion area,which was used to optimize the safe path based on a simulated annealing algorithm to guide the automatic puncture process performed by the robot,was calculated based on the cost map in an obstacle environment that simulates anatomical features.Finally,a phantom experiment was designed in the selfmade bionic model.The automatic puncture operations were executed according to the traditional linear puncture path and the safe puncture path obtained by the planning method in this paper.The experiment showed that the path obtained by this method coincided well with the planning path.The target puncture error was within 1.5mm.The puncture accuracy was improved by more than 80%compared with the straight-line path.The target puncture error was sig-nificantly reduced compared with it in the clinical process(5.5-5.6 mm).Results indicated that the motion planner could calculate a safe and reasonable path for the robot-controlled puncture surgery while enhancing the position preci-sion and patient safety.
作者
杨志永
房培娜
刘琬钰
姜杉
Yang Zhiyong;Fang Peina;Liu Wanyu;Jiang Shan(School of Mechanical Engineering,Tianjin University,Tianjin 300350,China)
出处
《天津大学学报（自然科学与工程技术版）》
EI
CAS
CSCD
北大核心
2022年第2期151-157,共7页
Journal of Tianjin University：Science and Technology
基金
国家自然科学基金资助项目(51775368,81871457,51811530310)
天津市科技支撑计划资助项目(18YFZCSY01300).
关键词
活检
路径规划
人工势能场
代价地图
biopsy
path planning
artificial potential field
cost map
作者简介
杨志永(1972—),男,博士,教授;通信作者:杨志永,meyang@tju.edu.cn.
