介入式腹腔镜机器人多源定位与腹腔三维重构研究

Invasive laparoscopic surgery is the new direction of minimally invasive surgery. This research will combine electromagnetic theory and technology, computer vision theory, and the method of SLAM (Simultaneous Localization And Mapping) to develop a viable intrusive prototype system of the laparoscopic robot. For the problem that laparoscopic robot can not accurately estimate the position and orientation, we will establish 6-DOF (Degree Of Freedom ) magnetic driven model of the laparoscopic robot and design 6-DOF magnetic tracking system. We will study the information fusion localization algorithm based on extended Kalman filter, design the optimal estimator which fuses global and local tracking information, and estimate accurately the position and pose of the laparoscopy. The robot mapping algorithm based on monocular vision, feature extraction and matching algorithm based on binary bit are adopted to study abdominal 3D reconstruction in the dynamic environment and implement the prototype system of invasive laparoscopic robot localization and 3D reconstruction. The theories and technologies of the laparoscopic surgery will be enriched in this research, and the technology of SLAM also is enriched and developed. The research achievements can be applied to minimally invasive treatment system, equipment design and manufacture of surgical instrument and other areas.

介入式腹腔镜微创手术是微创手术发展的新方向，本课题拟结合电磁场理论和技术、计算机视觉理论、机器人同步定位与地图构建的基本原理和方法，开发一套切实可行的介入式腹腔镜机器人诊疗原型系统。针对当前腹腔镜机器人不能准确估计位置和方向的问题，建立可6自由度驱动的腹腔镜机器人磁驱动模型，设计6自由度磁跟踪系统；研究基于扩展Kalman滤波的信息融合定位算法，设计融合全局与局部跟踪信息的最优估计器，精确估计腹腔镜的位置和姿态；采用基于单目视觉的机器人地图构建算法、基于二进制位的特征提取与特征匹配算法，研究动态环境下腹腔三维重构，设计并实现介入式腹腔镜机器人定位与三维重构原型系统。课题研究将丰富和发展腹腔镜的理论和技术，同时也能促进机器人同步定位与地图构建理论技术的应用发展。课题研究成果可应用于微型、微创诊疗系统，外科仪器设备设计与制造等领域。

腹腔镜技术为现代外科医疗技术的发展带来了巨大变革，微创外科技术显著改善了外科手术的效果。本项目借鉴移动机器人同步定位与地图构建的基本原理和方法，在定位装置的结构设计、性能验证、体外磁跟踪技术、多源信息融合等方面进行理论建模和实验研究，建立较为完善的介入式腹腔镜机器人定位与三维重构实验平台，构建了介入式腹腔镜机器人原型系统。课题研究期间，发表与本课题相关的论文15篇，其中SCI、EI期刊收录12篇；围绕本项目研究内容培养硕士研究生8名；申请发明专利两项，授权软件著作权5项；出版专著3部；获吴文俊人工智能科学技术奖1项.课题研究成果可应用于微型、微创诊疗系统，外科仪器设备设计与制造等领域。