无需传感器，动态估算手术机器人运动中心偏移，提升手术安全
Sensorless Remote Center of Motion Misalignment Estimation
- 基于力反馈的无传感器方法实时估计运动中心偏移
- 偏移超过20毫米时可能损伤组织，算法误差小于5毫米
- 适合需要高精度定位的机器人微创手术场景
腹腔镜手术中，器械需围绕患者切口处的固定枢轴点运动以减少组织损伤。手术机器人通过硬件或软件实现远程运动中心（RCM）约束，但因套管手动放置、患者移动及组织变形，精确对齐困难。机器人RCM点与实际切口位置的偏移可能导致切口处产生危险应力。本文提出一种基于力估计的无传感器框架，用于动态评估与优化RCM偏移。实验表明，当偏移量D≥20 mm时，可产生足以损伤组织的力，凸显精准定位的重要性。对于该范围内的偏移，所提优化算法估计误差在5 mm以内。准确估计RCM偏移是实现自动补偿的关键一步，有助于提升机器人辅助腹腔镜手术的安全性并减少组织损伤。
原文摘要 · Abstract (English)
Laparoscopic surgery constrains instrument motion around a fixed pivot point at the incision into a patient to minimize tissue trauma. Surgical robots achieve this through either hardware to software-based remote center of motion (RCM) constraints. However, accurate RCM alignment is difficult due to manual trocar placement, patient motion, and tissue deformation. Misalignment between the robot's RCM point and the patient incision site can cause unsafe forces at the incision site. This paper presents a sensorless force estimation-based framework for dynamically assessing and optimizing RCM misalignment in robotic surgery. Our experiments demonstrate that misalignment exceeding 20 mm can generate large enough forces to potentially damage tissue, emphasizing the need for precise RCM positioning. For misalignment $D\geq $ 20 mm, our optimization algorithm estimates the RCM offset with an absolute error within 5 mm. Accurate RCM misalignment estimation is a step toward automated RCM misalignment compensation, enhancing safety and reducing tissue damage in robotic-assisted laparoscopic surgery.
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