CT导航下的机器人辅助穿刺定位方法

陈光彪 1; 付庄 1; 张铁锋 2; 沈运 1; 王尧 1; 施韦伊 2; 费健 3

doi:10.7652/xjtuxb201904013

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CT导航下的机器人辅助穿刺定位方法

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- CT导航下的机器人辅助穿刺定位方法
- Robot-Assisted Puncture Positioning Methods under CT Navigation
- 西安交通大学学报 2019年53卷第4期页码：85-92+99
- 作者机构：
  
  上海交通大学机械系统与振动国家重点实验室,上海,200240
- 作者简介：
- 基金信息：
  
  : 2018-10-12。作者简介: 陈光彪(1994—),男,硕士生;付庄(通信作者),男,教授,博士生导师。基金项目: 上海市卫生和计划生育委员会科研课题(201640230);上海航天科技创新基金资助项目(SAST2017-105);上海市科学技术委员会研究项目(17441901000)
- DOI：10.7652/xjtuxb201904013
  中图分类号： R319;TP249
- 网络首发：2019-04-10，
  
  纸质出版：2019
- 稿件说明：
移动端阅览
陈光彪 1, 付庄 1, 张铁锋 2, 等. CT导航下的机器人辅助穿刺定位方法[J]. 西安交通大学学报, 2019,53(4):85-92+99.

Robot-Assisted Puncture Positioning Methods under CT Navigation[J]. 2019, 53(4): 85-92+99.
陈光彪 1, 付庄 1, 张铁锋 2, 等. CT导航下的机器人辅助穿刺定位方法[J]. 西安交通大学学报, 2019,53(4):85-92+99. DOI： 10.7652/xjtuxb201904013.

Robot-Assisted Puncture Positioning Methods under CT Navigation[J]. 2019, 53(4): 85-92+99. DOI： 10.7652/xjtuxb201904013.

摘要

针对机器人辅助穿刺中病灶定位系统价格昂贵、穿刺针全向定位机构结构复杂等问题

分别提出了CT导航下病灶定位方法和穿刺针全向定位方法。基于坐标变换理论

病灶定位方法由3个不共线标记点在CT和机器人坐标系的坐标数据辨识出2个坐标系之间的位置关系

然后由CT下的病灶坐标实现病灶在机器人下的定位。全向定位方法结合病灶的定位结果和机器人运动学

通过软件控制实现穿刺针在调整自身姿态时仍始终指向所定位病灶位置

为病灶穿刺提供安全的进针点和入刺角度。搭建含UR机械臂的6-DOF辅助穿刺系统

并在CT导航下对患者模型进行病灶和穿刺针的定位实验

实验结果表明:病灶定位误差在3 mm以内

与基于5个标记点的最小二乘病灶定位法精度相当

但定位效率提高约40%

其中病灶定位方法计算误差为1.43 mm

证明利用软件代替复杂机构的穿刺针全向定位方法是可行的。本文建立的病灶及穿刺针定位方法有效、准确

可为后续病灶自主定位和穿刺针路径规划提供理论基础。

Abstract

Positioning methods of lesion and puncture needle under CT navigation are proposed

respectively

to solve the problem of expensive lesion positioning system and complex puncture needle omnidirectional positioning mechanism in robot-assisted puncture. Bases on the coordinate transformation

the lesion positioning method recognizes the position relationship between the CT system and the robot system by the coordinates of three non-collinear markers in both the systems

and then localization of the lesion in the robot system is realized from its coordinates in CT. The omnidirectional localization method combines the lesion positioning results and robot kinematics

and the needle always points to the positioned lesion regardless of its posture adjustment. It is realized by robot software control to get safe insertion points and angles for lesion puncture. A 6-DOF puncture system containing a UR robot is built to conduct lesion and needle positioning experiments on a patient model under CT navigation. Results show that the lesion positioning error of the proposed method is less than 3 mm

and that the positioning accuracy is equivalent to that of the least squares location method based on five markers

while the location efficiency improves by about 40%

and the calculation error of the lesion positioning method is about 1.43 mm. It is feasible to realize the needle omnidirectional positioning through using software to replace the complex mechanism. Therefore

the proposed positioning methods are effective and accurate

and they may provide theoretical basis for further lesion autonomous positioning and needle path planning.

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references

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