良性前列腺增生铥激光微创手术机器人基础理论和关键技术研究

手术是中重度良性前列腺增生（BPH）治疗的主要方法，经尿道BPH机器人手术在国内尚为空白。本项目基于经自然腔道灵巧手术机器人技术，将BPH激光手术与机器人“测量-规划-执行”一体化技术相结合，拟构建安全高效的激光手术治疗新模式。项目围绕刚柔耦合手术机器人设计、前列腺高精测量、机器人手术规划与控制等基础理论开展研究；拟突破感控一体化前列腺手术机器人系统设计与建模，多源影像信息融合的手术区域机器人化高精重构与动态跟踪，复杂约束下的机器人激光手术规划与自律控制，“测量-规划-执行”一体化手术机器人系统集成等关键技术。通过研制刚柔耦合的连续体灵巧末端执行器，实现手术机器人在特定区域内灵巧作业；通过多传感融合的测量、基于虚拟屏障的规划与自律控制，安全、高效切除增生组织。预期建立“医师决策，机器人执行”的人机共融BPH激光手术新模式，这将对提升BPH手术治疗效率、促进手术机器人装备技术发展具有重要意义

Surgery is the primary treatment of moderate to severe benign prostate hyperplasia (BPH). So far, there was little research on BPH surgical robot in China. Based on the technique of natural orifice transluminal dexterous surgical robot, a safe and efficient surgical mode will be constructed in this project by combining the surgeon's laser-surgery technique with the robot's integrated technology of measurement-planning-execution. The project will focus on the design of rigid-flexible coupling surgical robot, prostate measurement with high precision, planning and control of robotic surgery, including: (1) Design and modeling of sensory-control integrated rigid-flexible coupling prostate surgical robot system; (2) Robotized high-precision reconstruction and dynamic tracking of the surgical area based on information fusion of multi-source image; (3) Robotic surgery planning and autonomic control under complex constraints; (4) Integration and applicability evaluation of the measurement-planning-execution integrated surgical robot system. The dexterous operation of the surgical robot in specific area will be realized by the development of a dexterous rigid-flexible coupling continuous end-effector; The safe and efficient removal of hyperplastic prostate tissue is expected to realize through measurement of multi-sensor fusion, virtual-barrier-based planning and autonomic control. On the basis of above research, a new laser-surgical mode for BPH with human-robot interaction will be created by “physician decision, robot execution”. It is of great significance to improve the efficiency of BPH surgery and promote the technology development of surgical robot equipment.