经皮穿刺手术机器人信息感知透明性机理与靶点精准穿刺基础理论与关键技术研究

经皮穿刺是临床上量大面广的一种微创诊疗手术，传统方式存在内部组织结构复杂、生理运动影响精度、穿刺过程不可视、遭受辐射伤害等问题。经皮穿刺手术机器人是提高术中手术操作的透明性、精准性、安全性方面的有效手段。.本项目以“机理建模，透明感知，精准穿刺，安全保障”为目标，探索呼吸运动与穿刺作用下的生理运动关联交互机理；研究基于医学影像下的肿瘤、器官、组织的动态变化规律，并融合形状感知技术建立多模影像及多传感信息的时空数据融合机制；突破多目标优化穿刺路径规划、主被动结合的安全控制策略以及机器人主从信息共享和精准穿刺控制等瓶颈技术，解决动态复杂环境下穿刺手术的透明性、精准性、安全性等临床难题，使得手术机器人具有一定的智能特征，用机器智能来弥补安全性精准性对医生的全部依赖，在一定程度上降低医生的操作难度。本项目研究为丰富和完善机器人基础理论和关键技术体系，推动穿刺机器人走向临床奠定理论与技术基础。

Percutaneous puncture is a minimally invasive surgery with a large amount and a wide range of clinical applications. Problems of the traditional operation include the complexity of the internal tissue structure, the accuracy affected by the physiological movement, the invisibility of the puncture process and the radiation injury. The robot assisted puncture is an effective means to improve the transparency, accuracy and safety of the operation..The project focuses on the mechanism modeling, transparency perception, precise puncture and the safety guarantee of puncture robots in the complex and dynamic surgical environment. The interaction mechanism under respiration and the effect of puncture is explored. The motion patterns of tumors, organs and tissues are discovered based on medical images and needle shape sensing technologies are integrated to establish the multi-mode and multi-sensor data fusion mechanism. Techniques such as multi-objective optimization of the puncture path, active and passive safety control and the precise puncture control based on the sharing of master-slave information are studied and a breakthrough is to be made. The puncture robots have intelligent characteristics and machine intelligence is made up for the whole dependence on doctors for safety and accuracy, which reduces the difficulty of doctors’ operation. The study lays a theoretical and technical foundation for enriching and improving the basic theories and key technologies and promoting the clinical applications of puncture robots.