摘要
针对前列腺粒子植入治疗存在的粒子植入精度低、效率低、人机交互不自然和操作复杂等问题,提出一种基于动态规划的粒子植入规划算法来提高粒子植入效率,通过仿真将其与贪婪算法、蚁群算法等启发式算法进行对比,指出该算法更加稳定,满足临床需求.提出了前列腺粒子植入机器人的人机交互控制方法,建立了操纵杆与机器人运动的增量式映射关系,医生通过操纵杆实时控制机器人运动,从而实现在良好的人机交互操作下精准、高效地完成粒子植入手术.搭建了前列腺粒子植入机器人实验平台,实验结果验证了粒子植入规划方法的有效性,且人机交互控制映射和控制延迟均满足临床手术要求.
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.
作者
张为玺
张永德
梁德县
ZHANG Weixi;ZHANG Yongde;LIANG Dexian(School of Mechanical Power Engineering,Harbin University of Science and Technology,Harbin 150080,China)
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2020年第12期8-12,19,共6页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国家自然科学基金资助项目(51675142)。
关键词
粒子植入机器人
前列腺
粒子植入规划
动态规划算法
增量映射
人机交互控制
控制延迟
particle implant robot
prostate
particle implant planning
dynamic programming algorithm
incremental mapping
human-computer interaction control
control delay
