[1]寿佳瀛１,付 庄１,梅琼风１,等.MRI兼容的乳腺穿刺介入辅助机器人设计与路径规划研究[J].机械与电子,2021,(07):55-59.
　SHOU Jiaying,FU Zhuang,MEI Qiongfeng,et al.Design of MRI-compatible Robot System for Breast Invasive Surgery[J].Machinery & Electronics,2021,(07):55-59.
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MRI兼容的乳腺穿刺介入辅助机器人设计与路径规划研究()
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机械与电子[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2021年07期
页码:
55-59
栏目:
智能工程
出版日期:
2021-07-19

文章信息/Info

Title:
Design of MRI-compatible Robot System for Breast Invasive Surgery
文章编号:
１００１-２２５７ ( ２０２１ ) ０７-００５５-０５
作者:
寿佳瀛１; 付 庄１; 梅琼风１; 李康安２; 李茂林２; 谢荣理３; 张 俊３; 费 健３
１．上海交通大学机械系统与振动国家重点实验室,上海 ２００２４０ ;
２．上海市第一人民医院,上海 ２０００８０ ;?
３．上海交通大学医学院附属瑞金医院,上海 ２０００２５
Author(s):
SHOU Jiaying1; FU Zhuang１; MEI Qiongfeng１; LI Kang ’an２; LI Maolin２; XIE Rongli３; ZHANG Jun３; FEI Jian３
(１．State Key Laboratory of Mechanical System and Vibration , Shanghai Jiao Tong University , Shanghai ２００２４０ , China ;
２．Shanghai General Hospital , Shanghai ２０００８０ , China ;
３．Ruijin Hospital Affiliated to Shanghai Jiao Tong University , Shanghai ２０００２５ , China )
关键词:
机器人辅助手术; 乳腺穿刺手术; 核磁兼容; 多目视觉; 透视变换
Keywords:
robot-assisted surgery ;  breast invasive surgery ;  MRI-compatibility ;  multi-view image ; perspective transformation
分类号:
TP２４９ ; R４４５.1
文献标志码:
A
摘要:
针对核磁共振成像环境( MRI )下的乳腺穿刺手术定位问题,研制了一种直角坐标构型的５自由度穿刺手术辅助机器人,设计了基于多视角拼接图像信息的路径规划方案.结果表明,所研制的穿刺机器人具备在磁共振环境下工作的材料与结构的兼容性能,且具备空间定位与轨迹规划能力.
Abstract:
Localization of insertion points is a difficult problem for manually operated breast invasive surgery based on Magnetic Resonance Imaging ( MRI ) ． In this research , an invasive surgery assist robot with ５ degrees of freedom was developed to provide a solution , and a route planning scheme based on spliced multi-view images was designed．MRI-compatibility of the invasive robot was studied on the perspective of material and structure under magnetic resonance environment．Experiments were carried out to verify the ability of spatial positioning and trajectory planning of the robot．

参考文献/References:

[１] BRAY F , FERLAY J , SOERJOMATARAM I , et al．Global cancer statistics ２０１８ : GLOBOCAN estimates of incidence and mortality worldwide for ３６ cancers in １８５ countries [ J ] ．CA : A cancer journal for clinicians ,２０１８ , ６８ ( ６ ): ３９４-４２４．

[２] 中国临床肿瘤学会指南工作委员会 ． 中国临床肿瘤学会(CSCO)乳腺癌诊疗指南:２０１８．V１[ M ] ． 北京:人民卫生出版社,２０１８．
[３] 李朝伟,贺建林,姚翔 ． 医院磁共振机房的屏蔽原理和设计原则[ J ] ． 中国医学装备, ２０１２ , ９ ( １ ): ６２-６３．
[４] 蒋秉梁,王晓堂 ． 磁共振成像基本原理及临床应用[ J ] ．中国医学装备,２０１３ , １０ ( １ ): ４９-５１．
[５] LARSON B T , TSEKOS N V , ERDMAN A G．A Robotic Device for minimally invasive breast interventions with real-time MRI guidance [ C ]//Proceedings of Third IEEE Symposium on Bioinformatics and Bioengineering , ２００３ : １９０-１９７．
[６] ZEMITI N , BRICAULT I , FOUARD C , et al．LPR : A CT and MR-compatible puncture robot to enhance accuracy and safety of image-guided interventions [ J ] ．IEEE / ASME Transactionson mechatronics , ２００８ , １３( ３ ): ３０６-３１５．
[７] 孟纪超,谢叻,神祥龙 ． 核磁共振环境下六自由度穿刺定位机器人的研制[ J ] ． 上海交通大学学报,２０１２ , ４６( ９ ): １４３６-１４３９．
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备注/Memo

备注/Memo:
收稿日期: ２０２０-１２-３１
基金项目:上海市科学技术委员会项目( １７４４１９００７００ );医工交叉项目( YG２０１９ZDA１７ , ZH２０１８QNB２３ );国家自然科学基金面上项目( ６１９７３２１０ )
作者简介:寿佳瀛 ( １９９６－ ),男,浙江诸暨人,硕士,研究方向为机器人控制系统、医疗机器人等;付 庄 ( １９７２－ ),男,山东招远人,教授,博士研究生导师,研究方向为机器人及智能控制系统、运动学与动力学等,通信作者.
更新日期/Last Update: 2021-07-19