CT导航下的机器人辅助穿刺定位方法
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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。
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.
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.
引文
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[2]HANSEN-ALGENSTAEDT N,KWAN M K,AL-GENSTAEDT P,et al.Comparison between minimally invasive surgery and conventional open surgery for patients with spinal metastasis:aprospective propensity score-matched study[J].Spine,2017,42(10):789-797.
[3]DIEBERG G,SMART N A,KING N.Minimally invasive cardiac surgery:a systematic review and metaanalysis[J].International Journal of Cardiology,2016,223:554-560.
[4]黄惠,曾丹,程美清,等.超声引导经皮肺周围型肿物穿刺活检的临床应用[J].影像诊断与介入放射学,2016,25(1):65-68.HUANG Hui,ZENG Dan,CHENG Meiqing,et al.Efficacy of ultrasound-guided biopsy of peripheral lung lesions[J].Diagnostic Imaging&Interventional Radiology,2016,25(1):65-68.
[5]ANZIDEI M,ARGIRO R,PORFIRI A,et al.Preliminary clinical experience with a dedicated interventional robotic system for CT-guided biopsies of lung lesions:a comparison with the conventional manual technique[J].European Radiology,2015,25(5):1310-1316.
[6]赵新刚,杨唐文,韩建达,等.机器人辅助针穿刺技术[J].科学通报,2013,58(s2):20-27.ZHAO Xingang,YANG Tangwen,HAN Jianda,et al.A review on the robot-assisted needle puncture technology[J].Chinese Science Bulletin,2013,58(s2):20-27.
[7]丑武胜,王田苗.面向脑外科微创手术的医疗机器人系统[J].机器人技术与应用,2003(4):18-21.CHOU Wusheng,WANG Tianmiao.Medical robot system for minimally invasive surgery in department of cerebral surgery[J].Robot Technique and Application,2003(4):18-21.
[8]ISHII H,KAMEGAWA T,KITAMURA H,et al.Development of a prototype of puncturing robot for CT-guided intervention[C]∥Proceedings of the 2016IEEE 11th Conference on Industrial Electronics and Applications.Piscataway,NJ,USA:IEEE,2016:1020-1025.
[9]HUNGR N,BRICAULT I,CINQUIN P,et al.Design and validation of a CT-and MRI-guided robot for percutaneous needle procedures[J].IEEE Transactions on Robotics,2016,32(4):973-987.
[10]王旸.导航技术、机器人技术在超声引导肝肿瘤经皮热消融中的应用研究[D].北京:解放军总医院,2008:24-27.
[11]冯涛,杨向东,熊璟,等.穿刺机器人本体标定实验研究[J].机械设计与制造,2010(2):155-157.FENG Tao,YANG Xiangdong,XIONG Jing,et al.Experimental study on calibration for medical robot[J].Machinery Design&Manufacture,2010(2):155-157.
[12]孙银山,吴冬梅,杜志江,等.用于机器人辅助穿刺手术进针策略研究的猪肝进针力建模[J].高技术通讯,2011,21(9):948-953.SUN Yinshan,WU Dongmei,DU Zhijiang,et al.Modeling of needle insertion force in porcine livers for studying needle insertion strategies of robot-assisted percutaneous surgery[J].Chinese High Technology Letters,2011,21(9):948-953.
[13]KETTENBACH J,KARA L,TOPOREK G,et al.Arobotic needle-positioning and guidance system for CT-guided puncture:Ex vivo results[J].Minimally Invasive Therapy&Allied Technologies,2014,23(5):271-278.
[14]AMOLLI M M,HANUMARA N C,FRANKEN M CJ,et al.An overview of systems for CT-and MRI-guided percutaneous needle placement in the thorax and abdomen[J].Int J Med Robot,2016,11(4):458-475.
[15]STOFFNER R,AUGSCHLL C,WIDMANN G,et al.Accuracy and feasibility of frameless stereotactic and robot-assisted CT-based puncture in interventional radiology:a comparative phantom study[EB/OL].(2009-06-10)[2018-08-30].https:∥www.thiemeconnect.de/products/ejournals/pdf/10.1055/s-0028-1109380.pdf.
[16]徐翔.穿刺手术机器人系统设计与控制方法研究[D].杭州:浙江大学,2017:2-6.
[17]耿娜,邾继贵,劳达宝,等.基于刚体运动学的坐标系配准理论及算法[J].传感技术学报,2010,23(8):1088-1092.GENG Na,ZHU Jigui,LAO Dabao,et al.Theory and algorithm of coordinate system registration based on rigid body kinematics[J].Chinese Journal of Sensors and Actuators,2010,23(8):1088-1092.
[18]王保丰,徐宁,余春平,等.两种空间直角坐标系转换参数初值快速计算的方法[J].宇航计测技术,2007,27(4):20-24.WANG Baofeng,XU Ning,YU Chunping,et al.Quick arithmetics for the transformation approximation of two space rectangular coordinate systems[J].Journal of Astronautic Metrology and Measurement,2007,27(4):20-24.
[19]NIKU S B.机器人学导论:分析、系统及应用[M].北京:电子工业出版社,2004:27-34.