白内障显微手术机器人影像处理与自主导航关键问题研究

医生进行白内障显微手术时视野和姿势皆受限，需要长时间训练才能有较高成功率。显微手术机器人可克服人的生理与心理因素影响，进而提高手术成功率。白内障手术产生的大量影像诊疗数据可为机器人的准确引导、精确感知和精准操控提供助力。本项目以上述影像数据为研究对象，开展多模态白内障影像数据库的建立、多模态影像数据的非刚性配准、多模态信息融合感知与导航以及显微操作的多级自主控制等基础研究工作。拟重点解决小样本条件下多模影像数据跨模态相似性度量、受限环境下手术器械定位及器械与眼部各组织相互作用的感知及显微手术机器人与操作医生的人机共融控制等基础科学问题。项目的研究紧密围绕白内障显微手术机器人的影像处理与自主导航的研究主线，建立科学研究与临床验证应用数据库，构建动态自主规划和自主操作的一体化系统。研究成果将为白内障显微手术机器人实现精准导航与诊疗操作提供理论基础与关键技术，切实提高白内障显微手术的治疗水平。

When the doctor performs microsurgery for cataracts, the vision field and posture are limited, thus long training is required to have a high success rate. Microsurgical robots can overcome the influence of human physiological and psychological factors, thereby improving the success rate of surgery. A large amount of image data of diagnosis and treatment generated by cataract surgery can provide assistance for accurate guidance, precise perception and precise manipulation of the robot. This project takes these image data as the research objects, and deeply develops the basic researches such as establishment of a multi-modal database for cataract microsurgery robots, non-rigid registration of multi-modal image data, multi-modal information fusion perception and navigation and multi-level autonomous control of navigation operations under microscopy. It is planned to focus on solving basic scientific issues such as the cross-modal similarity measurement of multi-modal image data under small sample conditions, the perception of surgical instrument positioning and the interaction of instruments with multiple layers of heterogeneous soft tissues in a restricted environment, and the cooperation between microsurgery robots and human-machine operators. Researches closely focus on the main lines of image processing and autonomous navigation of cataract microsurgery robots, including establishing a database for scientific research and clinical verification application, building an integrated system for dynamic autonomous planning and autonomous operation. The research results will provide theoretical basis and key technologies for cataract microsurgery robots to achieve precise navigation and diagnosis and treatment operations, and will effectively improve the treatment level of cataract minimally invasive surgery.