Research On The Key Technology Of Auxiliary Precision Puncture Robot Based On Medical Image

Percutaneous interventional surgery has undergone major changes compared to traditional open surgery.It has the characteristics of small trauma,less surgical complications and quick recovery after surgery.At present,percutaneous puncture intervention is a blind-puncture operation under the guidance of medical imaging.The effect of surgery is too much depending on the experience and skills of the doctor.At the same time,there are problems such as inaccurate location of puncture target and the needle insertion point,and difficult puncture path planning.Moreover,it is necessary to scan the patient multiple times and adjust the angle of the puncture through the medical imaging device,resulting in the puncture time being too long,the doctor's labor intensity,the patient suffering and being subjected to excessive irradiation.Based on the key research and development project of Jiangsu Provincial Science and Technology Department,"Research on minimally invasive treatment of bone metastasis cancer pain assisted by puncture robot based on CT/MRI fusion image",aiming at the existing problems in puncture surgery,this thesis presents a precise assistant puncture robot system guided by medical image.This paper mainly focuses on the key technologies of assistant puncture robot based on medical images,including the construction of assisted puncture robot system,CT medical image processing,navigation and positioning system,puncture path planning,robot intelligent control algorithm and experimental research.The research work in this paper focuses on the following aspects:Firstly,according to the clinical requirement of percutaneous interventional surgery for puncturing operation,a prototype of assistant precision puncture robot system is developed,and workflow of assistant precision puncture robot system based on medical image is established.Through a series of experiments,the prototype platform can meet the requirements of accurate positioning,stability and reliability,simple operation and time saving.Secondly,the processing and visualization of medical images are studied,and a set of operation software of assistant precision puncture robot system is designed and completed.The software has a friendly and easy operation interface and can display any level of medical images and three-dimensional image in real time.It is convenient for doctors to observe and analyze medical images and control puncture robot in the medical operation.Thirdly,the three-dimensional space positioning and registration scheme based on binocular vision is studied,and the space mapping algorithm from medical image coordinate system to robot working coordinate system is proposed to solve the key problem of registration from medical CT image to operation space of puncture robot.Inter-registration maps the information of the target of the lesion,the needle point of the skin surface and the puncture path into the operational space of the assistant puncture robot,thus realizing the function of assistant precise positioning.Fourthly,the kinematics and workspace characteristics of the 6-DOF serial robot are analyzed,and the rationality of selecting the robot as the assistant puncture robot for precise positioning is verified.Combining with the path planning and design of medical puncture surgery,a robot control algorithm based on Improved Particle Swarm Optimization BP neural network is developed to study the space trajectory planning of assistant precise puncture robot system to ensure that the assistant puncture robot can put the end-effector into the skin needle point with the best posture and assist the doctor to set it.The puncture point and puncture path were accurately punctured to the operative target.Finally,the feasibility of the precise positioning scheme of the assistant precise puncture robot is verified by 3D printing skeleton model experiment,living animal experiment and bovine spine experiment.Through a large number of experimental studies,the actual operation process of clinical puncture surgery is simulated,and the positioning accuracy,safety and stability of the auxiliary precision puncture robot are further verified.The puncture experiment of bovine spine has accumulated data and experience for future human spinal puncture operation.Through a large number of experimental verifications and data summary,it lays the foundation of the assistant puncture robot system guided by medical images for the clinical application.