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華中科技大學學報(自然科學版) 2020, Vol. 48 Issue (12): 8-12 DOI10.13245/j.hust.201202

欄目:自動化技術
粒子植入機器人粒子規劃及人機交互控制研究
張為璽 , 張永德 , 梁德縣
哈爾濱理工大學機械動力工程學院,黑龍江 哈爾濱 150080
摘要 針對前列腺粒子植入治療存在的粒子植入精度低、效率低、人機交互不自然和操作復雜等問題,提出一種基于動態規劃的粒子植入規劃算法來提高粒子植入效率,通過仿真將其與貪婪算法、蟻群算法等啟發式算法進行對比,指出該算法更加穩定,滿足臨床需求.提出了前列腺粒子植入機器人的人機交互控制方法,建立了操縱桿與機器人運動的增量式映射關系,醫生通過操縱桿實時控制機器人運動,從而實現在良好的人機交互操作下精準、高效地完成粒子植入手術.搭建了前列腺粒子植入機器人實驗平臺,實驗結果驗證了粒子植入規劃方法的有效性,且人機交互控制映射和控制延遲均滿足臨床手術要求.
關鍵詞 粒子植入機器人 ;前列腺 ;粒子植入規劃 ;動態規劃算法 ;增量映射 ;人機交互控制 ;控制延遲
Research on particle planning and human-computer interaction control of particle implantation robot
ZHANG Weixi , ZHANG Yongde , LIANG Dexian
School of Mechanical Power Engineering,Harbin University of Science and Technology,Harbin 150080,China
Abstract Aiming at the problems of low precision,low efficiency,unnatural human-computer interaction and complex operation in particle implantation therapy of prostate,a particle implantation planning algorithm based on dynamic programming was proposed to improve the efficiency of particle implantation.Compared with greedy algorithm and ant colony algorithm,the algorithm is more stable and meets the clinical needs.The human-computer interaction control of prostate particle implantation robot was studied,and the incremental mapping relationship between the joystick and robot motion was established real time control of the robot movement,so as to achieve a good human-computer interaction under the precise and efficient completion of the implantation surgery.The experimental results show that the particle implantation planning method is effective,and the human-computer interaction control mapping and control delay can meet the surgical requirements.
Keywords particle implant robot ; prostate ; particle implant planning ; dynamic programming algorithm ; incremental mapping ; human-computer interaction control ; control delay
基金資助國家自然科學基金資助項目(51675142).

中圖分類號TP242.3
文獻標志碼A
文章編號1671-4512(2020)12-0008-05
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文獻來源
張為璽, 張永德, 梁德縣. 粒子植入機器人粒子規劃及人機交互控制研究[J]. 華中科技大學學報(自然科學版), 2020, 48(12): 8-12
DOI:10.13245/j.hust.201202
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