| 基于准确度评估的7自由度手术机器人术前摆位优化算法 |
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| 引用本文： | 李江,苏鹏,冯冬冬,崔力坤,张勤俭,刘宝国.基于准确度评估的7自由度手术机器人术前摆位优化算法[J].信息与控制,2022,51(3):280-287,297. |
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| 作者姓名： | 李江 苏鹏 冯冬冬 崔力坤 张勤俭 刘宝国 |
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| 作者单位： | 1. 北京信息科技大学机电工程学院, 北京 110192;2. 北京大学肿瘤医院暨北京市肿瘤防治研究所头颈外科恶性肿瘤发病机制及转化研究教育部重点实验室, 北京 100142 |
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| 基金项目： | 国家重点研发计划项目(2019YFC0119200)；国家自然科学基金青年科学基金项目(52005045) |
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| 摘 要： | 针对微创机器人辅助的外科手术复杂的术前摆位问题，以甲状腺微创手术用到的床旁双7自由度协作机器人为研究对象，将机械臂的运动准确度以及运动学性能作为优化目标，提出了机械臂准确度评估指标以及其对应的干涉指数，并提出了一套基于带精英策略的非支配排序遗传算法（NSGA-Ⅱ）多目标遗传算法的术前规划方法。最后，将由该遗传算法优化得...
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| 关 键 词： | 微创外科手术机器人 NSGA-Ⅱ 术前规划 准确度 碰撞检测 |
| 收稿时间： | 2021-05-24 |
Preoperative Positioning Optimization Algorithm Based on Accuracy Evaluation for 7-DoF Surgery Robot |
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| LI Jiang,SU Peng,FENG Dongdong,CUI Likun,ZHANG Qinjian,LIU Baoguo.Preoperative Positioning Optimization Algorithm Based on Accuracy Evaluation for 7-DoF Surgery Robot[J].Information and Control,2022,51(3):280-287,297. |
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| Authors: | LI Jiang SU Peng FENG Dongdong CUI Likun ZHANG Qinjian LIU Baoguo |
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| Affiliation: | 1. College of Mechanical and Electrical Engineering, Beijing Information Science and Technology University, Beijing 110192, China;2. Key laboratory of Carcinogenesis and Translational Research (Ministry of Education/Beijing), Department of Head & Neck Surgery, Peking University Cancer Hospital & Institute, Beijing 100142, China |
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| Abstract: | For the complex preoperative positioning of minimally invasive robot-assisted surgical procedures， we research the bedside dual 7-DoF cooperative robot， which is used in minimally invasive thyroid surgery， and take the motion accuracy and kinematics performance of the robotic arm as the optimization goal. Therefore， we propose accuracy evaluation and interference indexes of the robotic arm and introduce a set of preoperative planning methods based on elitist nondominated sorting genetic algorithm-Ⅱ (NSGA-Ⅱ) multiobjective genetic algorithm. Finally， we compare the optimized system performance index by the genetic algorithm with the optimized result of Gaot's single-objective genetics and that provided by the doctor's experience. Results show that the preoperative positioning scheme obtained by the NSGA-Ⅱ multiobjective genetic algorithm has advantages and can provide reasonable guiding suggestions for the safe realization of the operation. |
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| Keywords: | minimally invasive surgery robot NSGA-II preoperative planning accuracy collision detection |
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