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机器人辅助微创手术的三维避免碰撞方法

Ling Li1,2,3, Xiaojian Li1,2,3, Bo Ouyang1,2,3

  • 1School of Management, Hefei University of Technology, Hefei, China.

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 手术技术 手术技术
  • 计算机辅助手术 计算机辅助手术

背景情况:

  • 机器人辅助的微创手术 (RMIS) 提供了精确性,但可能会因碰撞造成程序损伤和组织损伤.
  • 现有的方法可能无法完全解决RMIS中的3D空间和多对象交互的复杂性.

研究的目的:

  • 为RMIS提出和验证一种新的三维碰撞避免方法.
  • 通过防止意外碰撞,提高机器人辅助手术程序的安全性和精度.

主要方法:

  • 基于三个战略向量的3D碰撞避免策略的开发:与仪器碰撞避免 (CI),与组织碰撞避免 (CT) 和受约束控制 (CC).
  • CI 矢量定义了防止仪器与仪器碰撞的方向.
  • CT 矢量包括避免与非目标组织接触的组件,而 CC 矢量确保精确的仪器终点指导.

主要成果:

  • 模拟结果证明了拟议的3D避免碰撞方法的有效性.
  • 该方法成功地引导了机器人仪器,防止与其他仪器和周围组织的碰撞.

结论:

  • 拟议的3D避免碰撞的方法是有效的机器人辅助的微创手术.
  • 这种方法有助于通过减轻碰撞风险,使RMIS更安全,更可靠.