面向微创腹腔手术机器人及其虚拟环境的半物理仿真方法关键技术研究

Oriented to requirement of fault simulating, function consummating, surgical training and planning of minimally invasive laparoscopic surgical robot, a semi-physical simulation method is proposed, which aims to solve the problems of lacking multi-dimensional force feedback of the robotic system and the insufficiency of telepresence in the virtual simulation system. This project focuses on scientific problems and key technologies on virtual visional feedback and force feedback. A master-slave consistent motion method model in the virtual dynamic sight window is proposed. It bases on ergonomic principles, and accords with physiological experience of surgeon. Utilizing the genetic algorithm, combined with continuum elasticity theory, based on the support vector regression, we propose a physically-based deformation of soft issue model and a method on parameters selection of material in the model. This model is based on finite element, aims to describe the physical deformation with high speed. The soft tissue in this project is referred to liver and gallbladder. Revealing the mechanism of force and torque transferred among the hinges, a new method on general 3D force feeling mathematical model of the parallel-series master manipulator is proposed. Based on the above research work and the experiment, semi-physical simulation theoretical system of minimally invasive laparoscopic surgical robot and virtual environment is established. Achievements of this project will afford theoretical foundation and technical support for minimally invasive laparoscopic surgical robot, force feedback parallel-series master manipulator, and the development of the virtual simulation system. It has a broad prospect of application and social value.

面向微创腹腔手术机器人系统故障仿真、功能完善、手术培训和手术规划等技术需求，针对实际手术机器人系统缺乏多维力反馈、虚拟仿真系统缺乏临场感等问题，提出半物理仿真方法。重点探讨虚拟视觉反馈和虚拟力反馈方面的科学问题和关键技术：为符合医生手术操作习惯，基于人机工程学原理，建立虚拟动态视窗下主从一致性运动方法模型；以遗传算法为技术手段，探讨软组织材料参数选择方法，基于支持向量回归模型，结合连续介质弹性理论，建立一种基于有限元的肝胆软组织物理形变快速计算模型；深入探讨铰链间力的传递机理，提出通用的混联式主手3维力感数学建模新方法。在此基础上，结合实验研究形成较为完善的面向微创腹腔手术机器人及其虚拟环境的半物理仿真理论体系，具有重要的学术价值。项目成果将为微创腹腔外科手术机器人系统、力反馈混联主手、虚拟仿真系统的开发提供理论基础与技术支持，具有广泛的应用前景和社会价值。

微创腹腔手术机器人系统因其目标定位精确、手术易于实现微创化、可进行远程手术和主从控制等方面的优点具有广阔的研究与应用前景，逐渐成为国际机器人领域和相关医学领域的研究热点。通过建立面向“微创腹腔手术机器人及其虚拟环境”的半物理仿真方法，在虚拟环境中建立准确而快速的腹腔器官软组织物理形变模型，研究虚拟动态视窗下主从一致性运动方法，建立了准确的主手力感模型。在主手端实现了视觉反馈和多维力反馈，从而更加真实地模拟出医生使用该机器人系统进行手术时的各种情况，加强了手术培训的针对性和真实性；在从手端（患者端）能直观反映出各条手臂与护士、手术器具等周围环境的实时位置关系，有助于提高手术规划的合理性，验证手术方案的正确性和可行性；能够对各研制阶段的微创腹腔手术机器人系统进行闭路动态验收试验和故障模式的仿真，对系统的提高和完善具有指导意义和现实意义。