面向微创手术机器人系统的缝合打结行为研究
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摘要
为了解决受限空间下微创手术机器人辅助缝合打结难以操作等问题,本文针对支撑喉镜下的微创喉部手术,开展机器人辅助缝合打结行为研究。本文的主要内容和成果如下:
1.机器人辅助微创外科手术中缝合打结的动作分析及其抽象。
本文分解了微创手术中的缝合打结动作,并将其抽象为“移动到某位置“旋转/调整姿态”、“夹持”、“推/压”、“拉/牵引”和“松开”六种基本动作的组合。本文分析了微创手术缝合打结操作中所用基本动作的频率,作用有效时间,和对力、操作空间及手术工具等的要求。
2.手术纽结的数字化表示:数字编码矩阵。
根据打结操作的动作分析和纽结理论,建立了有向纽结模型,将手术纽结看作不同次序和方向的结扣组合。将单个结扣中交叉点类型、缠绕数、两个缝合线段的相互位置和几何拓扑关系等信息,按照一定规则组成结扣的数字编码矩阵。手术纽结编码矩阵是所组成结扣的编码矩阵的并。本文提出的数字化手术纽结表示方法有利于机器人识别所打纽结的状态。
3.受限手术空间下的缝合路径规划和弯曲扭转打结算法。
针对缝合中影响操作空间的最主要因素,对缝针在组织内的路径进行了规划。对于打结操作,提出通过工具沿其轴向的移动和自转,引起缝合线弯曲、扭转变形而形成线圈的弯曲扭转打结方法。基于缝合线曲带模型和相关纽结理论分析证明该方法可行而稳定。在此基础上提出弯曲扭转打结算法,利用工具两颚弯曲和工具自转自由度完成形成简单结和纽结张紧。该缝合路径规划和打结算法能够应用于机器人辅助支撑喉镜喉部微创手术,具有重要的临床价值。
4.微创手术机器人辅助的缝合打结仿真和实验研究。
基于“妙手”系列手术机器人,系统进行了相关仿真和实验研究,对弯曲扭转打结方法的影响因素进行了分析和评价,验证了缝合路径规划、纽结的数字编码矩阵和弯曲扭转打结算法的可行性和有效性。
It is difficult to perform robot-assisted suturing and knot-tying tasks although minimally invasive surgery (MIS) robotic systems have been developed greatly. The qualities of the suture and knots formed in robot-assisted MIS are worse than that in MIS performed directly by surgeons. In order to solve the problems of robot-assisted suturing and knot-tying in MIS, the research in this dissertation focuses on the behaviors of MIS robot-assisted suturing and knot-tying tasks. The contents of this dissertation are introduced briefly.
1. Analysis and abstract of the motions of robot-assisted suturing and knot-tying tasks in MIS.
The motions of the suturing and knot-tying tasks are decomposed and abstracted into six basic types of motions, which are“Reach”(m1),“Rotate & Orient”(m2),“Grasp & Hold”(m3),“Push”(m4),“Pull”(m5), and“Release”(m6). Frequency and effective acting time of each type of the motions in the suturing and knot-tying tasks are analyzed. And the workspace and the end-effectors required by the motions are introduced.
2. The presentation of surgical knots: digital code matrix of a knot.
According to the analysis of the motions of the suturing and knot-tying tasks and different throws formed in the knot-tying process, based on knot theory, the orientation surgical knot is modeled. The crossing points, the writhe of a throw, the position of the two strands which consist of the throw and other topological information of the throw compose the digital code matrix of a throw. The usual throws of knots are collected into the throw set. Each of the elements of the throw set is named a throw element, which maps to a code matrix of a throw. The code matrix of a knot which comprises of throw elements is the union of the code matrices of the throw elements. The digital representation of surgical knots proposed in this dissertation benefits the surgical robotic systems to identify the configuration of a knot in the knot-tying task.
3. The suturing path planning and the Bending-Twisting Knot-Tying (BTKT)algorithm in a confined workspace
In the suturing task, the most important factor of the operating workspace is the trajectory of the needle inside the tissue. The path inside the tissue is planned for an 8mm 3/8 needle according to the principles of the suturing task. The BTKT method is a novel method of forming a stable loop. With this method, the suture is grasped by the end-effectors which move along their axes and rotate themselves. Then the suture is bent and twisted with the tendency to reduce its energy. The suture forms a stable loop when its energy reduces to zero. After one end-effector forms a stable loop with BTKT method, the jaws of the other end-effector bending and the whole end-effector rotating, the end-effector adjusts its posture. Then the end-effector grasps the free strand of the suture and pulls the strand through the loop. Thus the preparatory simple knot is formed. Grasping the strands of the suture vertically, the end-effectors both rotate themselves until it makes the strands of the suture enlace the axes of the end-effectors and tighten the knot. The whole knot-tying process is named by BTKT algorithm. The suturing path planning and the BTKT algorithm, which facilitate surgeons to perform the robot-assisted suturing and knot-tying tasks in laryngeal MIS under a thin and long self-retaining laryngoscope, are of the clinical importance.
4. Suturing and knot-tying simulation and experiments assisted by MIS surgery robotic systems.
Suturing and knot-tying simulation and experiments assisted by“MicroHand”series surgery robotic systems are performed. The factors on the Bending-Twisting Knot-Tying (BTKT) method are analyzed. The simulation and experiments validate the code matrix of a knot, the suturing path planning and the Bending- Twisting Knot-Tying (BTKT) algorithm.
1.机器人辅助微创外科手术中缝合打结的动作分析及其抽象。
本文分解了微创手术中的缝合打结动作,并将其抽象为“移动到某位置“旋转/调整姿态”、“夹持”、“推/压”、“拉/牵引”和“松开”六种基本动作的组合。本文分析了微创手术缝合打结操作中所用基本动作的频率,作用有效时间,和对力、操作空间及手术工具等的要求。
2.手术纽结的数字化表示:数字编码矩阵。
根据打结操作的动作分析和纽结理论,建立了有向纽结模型,将手术纽结看作不同次序和方向的结扣组合。将单个结扣中交叉点类型、缠绕数、两个缝合线段的相互位置和几何拓扑关系等信息,按照一定规则组成结扣的数字编码矩阵。手术纽结编码矩阵是所组成结扣的编码矩阵的并。本文提出的数字化手术纽结表示方法有利于机器人识别所打纽结的状态。
3.受限手术空间下的缝合路径规划和弯曲扭转打结算法。
针对缝合中影响操作空间的最主要因素,对缝针在组织内的路径进行了规划。对于打结操作,提出通过工具沿其轴向的移动和自转,引起缝合线弯曲、扭转变形而形成线圈的弯曲扭转打结方法。基于缝合线曲带模型和相关纽结理论分析证明该方法可行而稳定。在此基础上提出弯曲扭转打结算法,利用工具两颚弯曲和工具自转自由度完成形成简单结和纽结张紧。该缝合路径规划和打结算法能够应用于机器人辅助支撑喉镜喉部微创手术,具有重要的临床价值。
4.微创手术机器人辅助的缝合打结仿真和实验研究。
基于“妙手”系列手术机器人,系统进行了相关仿真和实验研究,对弯曲扭转打结方法的影响因素进行了分析和评价,验证了缝合路径规划、纽结的数字编码矩阵和弯曲扭转打结算法的可行性和有效性。
It is difficult to perform robot-assisted suturing and knot-tying tasks although minimally invasive surgery (MIS) robotic systems have been developed greatly. The qualities of the suture and knots formed in robot-assisted MIS are worse than that in MIS performed directly by surgeons. In order to solve the problems of robot-assisted suturing and knot-tying in MIS, the research in this dissertation focuses on the behaviors of MIS robot-assisted suturing and knot-tying tasks. The contents of this dissertation are introduced briefly.
1. Analysis and abstract of the motions of robot-assisted suturing and knot-tying tasks in MIS.
The motions of the suturing and knot-tying tasks are decomposed and abstracted into six basic types of motions, which are“Reach”(m1),“Rotate & Orient”(m2),“Grasp & Hold”(m3),“Push”(m4),“Pull”(m5), and“Release”(m6). Frequency and effective acting time of each type of the motions in the suturing and knot-tying tasks are analyzed. And the workspace and the end-effectors required by the motions are introduced.
2. The presentation of surgical knots: digital code matrix of a knot.
According to the analysis of the motions of the suturing and knot-tying tasks and different throws formed in the knot-tying process, based on knot theory, the orientation surgical knot is modeled. The crossing points, the writhe of a throw, the position of the two strands which consist of the throw and other topological information of the throw compose the digital code matrix of a throw. The usual throws of knots are collected into the throw set. Each of the elements of the throw set is named a throw element, which maps to a code matrix of a throw. The code matrix of a knot which comprises of throw elements is the union of the code matrices of the throw elements. The digital representation of surgical knots proposed in this dissertation benefits the surgical robotic systems to identify the configuration of a knot in the knot-tying task.
3. The suturing path planning and the Bending-Twisting Knot-Tying (BTKT)algorithm in a confined workspace
In the suturing task, the most important factor of the operating workspace is the trajectory of the needle inside the tissue. The path inside the tissue is planned for an 8mm 3/8 needle according to the principles of the suturing task. The BTKT method is a novel method of forming a stable loop. With this method, the suture is grasped by the end-effectors which move along their axes and rotate themselves. Then the suture is bent and twisted with the tendency to reduce its energy. The suture forms a stable loop when its energy reduces to zero. After one end-effector forms a stable loop with BTKT method, the jaws of the other end-effector bending and the whole end-effector rotating, the end-effector adjusts its posture. Then the end-effector grasps the free strand of the suture and pulls the strand through the loop. Thus the preparatory simple knot is formed. Grasping the strands of the suture vertically, the end-effectors both rotate themselves until it makes the strands of the suture enlace the axes of the end-effectors and tighten the knot. The whole knot-tying process is named by BTKT algorithm. The suturing path planning and the BTKT algorithm, which facilitate surgeons to perform the robot-assisted suturing and knot-tying tasks in laryngeal MIS under a thin and long self-retaining laryngoscope, are of the clinical importance.
4. Suturing and knot-tying simulation and experiments assisted by MIS surgery robotic systems.
Suturing and knot-tying simulation and experiments assisted by“MicroHand”series surgery robotic systems are performed. The factors on the Bending-Twisting Knot-Tying (BTKT) method are analyzed. The simulation and experiments validate the code matrix of a knot, the suturing path planning and the Bending- Twisting Knot-Tying (BTKT) algorithm.
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