微创关节置换手术机器人双向精确感知与人机协作控制方法研究

To resolve postoperative stability and soft tissue balance of arthroplasty surgery under the requirements of personalized and accurate minimally invasive surgery (MIS), the issues of high resolution perception and human-robot synergic control method will be explored in this proposal. Accurate planning method of arthroplasty is proposed based on the joint stability analysis by calculating the stress distribution between prosthesis and host bone and the vibration mode of replacement joint, which is established based on analysis of joint anatomy and feature extraction of pathological tissue. The abilities of bi-direction high resolution perceptions between the human-robot and the robot-tissue are realized by identification the intents of surgeon and robot and the monitor the surgical status during operation. Then the accurate control strategy under the mode of human-robot synergy is proposed base on method of variable admittance control by analysis the influence to the robot accurate with the operation mode of passive follower of the robot. At last, a quantify analysis method of soft issues balancing is established by construct the bio-mechanical model to analysis the stress distribution of the joint plane with the aim to balance the soft tissues around the joint after operation. A basic theoretical system and affiliated technologies in desalination methodology of the arthroplasty surgery are built based on the methods and the processes we proposed in this study to promote surgical robot into clinic with more accuracy, more safety, more stability, and usability.

面向微创化关节置换手术个性化、精确化的临床需求，以解决机器人临床环境下术后关节稳定性、软组织平衡性为目标，针对人机器人共融环境下机器人对复杂手术过程的精确感知和人机协作机器人的精准操控问题，从个体关节的解剖学结构和病变组织特征提取研究出发，考虑假体形态对关节应力分布和振型影响，探究基于关节稳定性分析的关节置换手术精确规划方法；基于术中机器人对医生交互意图的辨识和机器人对手术操作状态的监测，实现微创化机器人手术术中双向交互精确感知能力；在此基础上，研究被动跟随操作方式对机器人精度控制的影响，基于变导纳控制方法，构建基于人机协作模式的机器人精准控制策略；以假体置换后关节周围软组织平衡为指标，在术中基于关节功能平面的应力分布情况，运用生物力学分析手段，构建软组织平衡性能的量化分析技术；从而形成关节置换手术机器人基础理论和共性关键技术体系，为推动准确、安全、稳定、可用的手术机器人走向临床奠定基础。

面向微创化关节置换手术个性化、精确化的临床需求，以解决机器人临床环境下术后关节稳定性、软组织平衡性为目标。提出基于有限元和关节疲劳的关节动力学分析与关节假体-骨界面稳定性分析方法，形成基于关节稳定性分析的个性化关节置换精确规划方法。提出基于3D-CNN和操作力的医生操作意图辨识方法，以及基于手术磨削力反馈的骨组织辨识方法，构建医生-机器人-关节磨削界面的双向感知模型，提升手术安全性。提出基于人体运动学模型的模糊模型参考学习控制可变导纳方法与基于人工势场的虚拟夹具模型，实现机器人在手术空间外与手术区域内高安全运动过程。基于关节运动模型和聚类分析的关节假体垫片设计方法，构建关节置换软组织量化分析模型。从而形成关节置换手术机器人基础理论和共性关键技术体系。经过系统集成，构建个性化关节置换手术机器人系统，并进行了初步的验证工作，为推动准确、安全、稳定、可用的手术机器人走向临床奠定基础。