面向微创手术机器人导航的多模态跟踪误差机理与光磁融合方法研究

手术器械及病人标记点的位姿跟踪（定位定向）是微创手术机器人导航的基础并决定手术效果。目前在进行微创手术操作时需要对光学和电磁跟踪装置进行多次切换或者混合跟踪，导致了导航配准效率（精度和实时性）不高的难题。本项目提出了一种基于多模态（光学、永磁体和交变电磁）的光磁融合跟踪新方法，为复杂场景下的微创手术机器人高效导航控制提供高精度、高鲁棒性和高实时性的反馈参数。研究内容包括：创新性地引入术中永磁体跟踪方式；系统性开展基于光学、永磁体和交变电磁的跟踪位姿误差产生与传递机理研究；基于误差机理先验知识并结合3种跟踪模态特点进行多级多层次的光磁融合跟踪，最终满足术中从繁琐的后配准转向光磁融合跟踪与自动后配准的跟踪性能要求。项目可在多模态位姿跟踪、光磁融合方法及临床应用方面形成完整理论体系；力求通过医工协作为突破手术机器人位姿跟踪装置核心技术奠定基础，以助力于微创手术机器人的发展。

Pose tracking of the minimally invasive surgical robot and surgical instruments is the precondition of surgical navigation and determines the surgical efficiency. During the minimally invasive surgery, multiple switching of optical and electromagnetic tracking is required, resulting in low accuracy and efficiency of surgical registration. This project systematically carries out the research on the pose error generation and transmission mechanism based on the modular tracking of the optical, permanent magnet, and alternating electromagnetic, and then the error coupling mechanism of optical-magnetic fusion and the multi-modal signal fusion tracking algorithms. The intraoperative permanent magnet tracking method is innovatively introduced. Greater tracking accuracy and stability can be obtained by the characteristic combing of three tracking methods for multi-level and multi-level fusions. Finally, the traversing post-registration to magneto-optical fusion tracking-based real-time automatic post registration is realized. The project can form a complete theoretical system in multimodal pose tracking, magneto-optical fusion method and its application in surgical registration, ensuring efficient robot navigation control in complex application scenarios. This project tries to lay the foundation for breakthrough key technology and thus advance the development and application of domestic surgical robots.