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医疗机器人辅助治疗肝脏大肿瘤多针手术规划要求消融针的穿刺路径避开腹腔内的肋骨以及血管等重要组织器官以及已穿刺的消融针.本文根据机器人肝肾囊肿穿刺的单针临床手术流程,提出了机器人辅助大肿瘤治疗的多针手术流程和多针手术规划应具备的功能.基于消融针的避障可达作业空间边界,提出了机器人多针手术规划的核心算法及优化准则.在仿真实验中成功求解出了腹腔内存在肋骨、血管及已穿刺的消融针等障碍物的消融针避障可达作业空间边界,并成功规划了多针手术的进针策略,实现了预穿刺消融针的穿刺路径不与障碍物相干涉,且对病人造成的创伤最小的规划目标.
Medical robots assist in the treatment of large liver tumors need to plan multiple needle puncture path of ablation needle to avoid intra-abdominal ribs and other important tissues and organs and blood vessels have been punctured ablation needle.This article according to robotic liver and kidney puncture single needle clinical surgical procedures, The multi-needle surgical procedure and multi-needle surgical planning should have the function of robotic-assisted large tumor treatment.Abundant algorithm based on the obstacle-avoidance accessible working space boundary of robotic needle was proposed and the core algorithms and optimization criteria of multi-needle robotic surgical planning were proposed.In the simulation The experiment successfully solved the abdomen rib, blood vessels and puncture ablation needle and other obstacles ablation needle reachable accessibility space boundary and successfully planned multi-needle surgery needle strategy to achieve the pre-puncture ablation needle The puncture path does not interfere with obstacles and minimizes the trauma to the patient.