| 刘少丽,杨向东,邵君奕,刘召,伊强,陈恳.基于隐函数的医疗机器人腹腔手术环境障碍物描述[J].高技术通讯(中文),2012,22(8):832~838 |
| 基于隐函数的医疗机器人腹腔手术环境障碍物描述 |
| A implicit function based method for describing the obstacles in a robot assisted celiac intervention surgery environment |
| 修订日期：2011-06-07 |
| DOI： |
| 中文关键词: 隐函数， 广义特征向量拟合， 障碍物描述， 医疗机器人 |
| 英文关键词: implicit function, generalized eigenvector fitting, obstacle description, medical robot |
| 基金项目:863计划（2009AA043701），国家自然科学基金(50975148)和摩擦学国家重点实验室（SKLT09A03）资助项目 |
| 作者 | 单位 | | 刘少丽 | 清华大学精密仪器与机械学系 | | 杨向东 | 清华大学精密仪器与机械学系 | | 邵君奕 | 清华大学精密仪器与机械学系 | | 刘召 | 清华大学精密仪器与机械学系 | | 伊强 | 清华大学精密仪器与机械学系 | | 陈恳 | 清华大学精密仪器与机械学系；清华大学摩擦学国家重点实验室 |
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| 中文摘要: |
| 针对机器人辅助腹腔介入治疗手术环境复杂，手术规划需要依据所掌握的手术环境内障碍物空间表面信息的实际情况，对手术环境中障碍物的描述进行了深入研究，提出用隐函数的方法对手术环境中多个障碍物的空间表面信息进行统一描述，根据通过磁定位器获取的目标物体表面样本点，用广义特征向量拟合方法对血管、肋骨、病人腹腔表皮及消融针表面进行曲面拟合，建立描述对象的隐函数式，并用Matlab进行三维显示。通过实验证明，广义特征向量拟合方法在解决非线性最小二乘问题方面比Levenberg Marquardt方法优越，验证了广义特征向 |
| 英文摘要: |
| In view of the fact that the surgery environment of robot assisted celiac interventional therapy system is complex and the surgical planning needs the surface information of the obstacles in the environment, the obstacle description was deeply studied, aiming to uniformly describe the surface information of the varieties of obstacles in the surgery environment using the implicit functions method. According to the sample points of the target surfaces measured by an electromagnetic tracking device, the surfaces of a blood vessel, a rib, a patient abdominal epidermis and a puncture needle were obtained by the generalized eigenvector fitting method. Furthermore, the implicit functions of the target surface were obtained and the three dimensional models were displayed with the Matlab toolbox. The experimental results demonstrate that the generalized eigenvector fitting method, which is fast, effective, accurate, widespread and insensitive to the starting value, is superior to the Levenberg Marquardt method for the solution of nonlinear least squares question. The obstacles’ implicit functions successfully established in the study can provide operative constraints for the medical robot surgical planning. |
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