九游体育-北京理工大学教授段星光：穿刺机器人关键技术与创新应用

       inkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; letter-spacing: 0.544px; text-align: justify;">以下内容来源于北京理工大学智能机器人研究所长聘教授段星光inkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; letter-spacing: 0.544px; text-align: justify;">在全国高校机器人产教融合发展论坛暨全国高校机器人学院院长论坛中的报告「穿刺机器人关键技术与创新应用」inkMacSystemFont, "Helvetica Neue", "PingFang SC", "Hiragino Sans GB", "Microsoft YaHei UI", "Microsoft YaHei", Arial, sans-serif; letter-spacing: 0.544px; text-align: justify;">，「中国机器人网」整理删改：

portant; overflow-wrap: break-word !important; font-size: 15px; color: rgb(136, 136, 136);">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">1.研究背景portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">肿瘤诊疗背景portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">：portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">根据世界卫生组织（WHO）数据显示：2020年全球主要癌症死亡人数达到 995万，portant; overflow-wrap: break-word !important;">其中肺癌是发病率和死亡率均占所有恶性肿瘤的第一位，其全球死亡人数达到了179万，肺癌已成为严重威胁中国人群健康的疾病，新增确诊和死亡人数在各类恶性肿瘤中最高。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">多因素推动经皮穿刺手术诊疗技术的发展portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">：portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">精准化手术需求、个性化手术难度、规范化诊疗需求、大范围临床应用等多因素推动经皮穿刺手术诊疗技术的发展。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">肺小结节精准穿刺手术机器portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">人：portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">提升我国癌症尤其是肺癌的诊治水平刻不容缓，早发现、早诊断、早治疗是最有效的手段，人工智能与机器人技术为肺小结节精准穿刺提供有效解决方案。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">传统徒手术式制约经皮穿刺诊疗portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">广泛应用portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">：portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">存在徒手穿刺精度低、耗时长，高辐射、穿刺并发症常见等问题。

portant; overflow-wrap: break-word !important;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">2.关键技术portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">从穿刺诊疗的理论与技术研究的角度可以分为以下几个方面：

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">①portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">医学图像处理portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">技术portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">对目标脏器进行分割、解剖结构三维重建、精准定位结节、精确建模肺实体、精细分割重要组织器官portant; overflow-wrap: break-word !important;">，以CT影像数据为基础，进行病灶提取、重要组织结构自动三维重建。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">图像分割与重建portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">基于医学影像数据，对目标组织进行图像分割，并进行精准重建，根据数据维度，可分为2D、3D、4D。图像分割与重建存在三维医学影像分割标注数据少、标注误差大，影响分割和重建精度portant; overflow-wrap: break-word !important;">等难点。基于Atlas解剖先验与深度渲染的医学影像数据增强增广方法，增大训练数据规模、基于深度先验与解耦循环教师网络的半监督医学影像分割方法可实现高质量影像三维重建。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">②术区多源信息感知技术portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">穿刺针力感知portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">将穿刺针的重要状态信息提供给机器人控制系统；

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">力传感器，在较深时针管与针尖的耦合受力如何建立有效的穿刺受力评价方法；

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">基于光纤传感器,如何兼顾核磁兼容、小体积、温度灵敏度、稳定性等多种条件。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">穿刺针形状感知portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">利用形状传感器，穿刺针会更加智能，有感知能力，这属于前沿研究阶段，从技术上、理论上都可以实现。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">当穿刺针用到患者临床上时，还需要解决消毒、生物相容性、灭菌等问题，这一系列问题需要很多政策监管，包括材料等进一步工程化的研究。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">呼吸运动信息感知portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">术中实时的呼吸运动采集和术前的状态如何能匹配？采集到术中实时的信息与状态和术前的呼吸状态匹配，这个数据才有意义。

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">③portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">路径规划技术portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">穿刺路径规划portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">：portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">在穿刺针对软组织的靶向穿刺过程中，经常会受到组织内生理结构（如骨骼、重要血管、神经等）的阻碍，因此需要寻找更为复杂的曲线路径以避开障碍。机器人可以提供几条经过优化之后的路径，使在术中能够顺利进行穿刺。

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">④portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">术中实时导航技术portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">医疗机器人不可避免要解决术中导航问题，其中包括三点：术前导入的影像形成三维模型；三维模型、患者的实际体位、手术器械统一在同一个坐标系下；实时采集手术器械的位置并显示。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">在这个技术的基础上，叠加呼吸运动跟踪，利用空间位置传感器来实时检测区域（也即手术区域）范围内手术器械以及病灶的空间位置，并依赖算法将两者的空间位置归入同一个三维坐标系中。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">⑤portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">空间配准技术

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">这是是整个手术导航系统中至关重要的部分，保证实际的手术器械能够精确到达设定的病灶部位。图像配准融合技术能够实现不同图像中的信息互补的效果，分为不同维度、不同模态等。基于模态迁移与深度形状先验的多模态影像非刚性配准能够得到非常精确的配准信息。

portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px;">

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">⑥人机交互portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">整个机器人进入到手术以后，如何和医生、患者之间建立关系，一个比较简单的就是主从交互控制技术。目前价值最高的腔镜机器人达芬奇就是主从交互，这种主从交互portant; overflow-wrap: break-word !important;">操控方式也被延伸到基于5G通信的远程操作。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">实际上，术中还有更多的交互方式，包括操作意图识别，对于患者和机器人的交互感知等。

portant; overflow-wrap: break-word !important;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">3.未来展望portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">医疗机器人是现在很热的一个赛点，它的难题在于它的价值回归还没有达到人们的期望。腹腔镜、耳鼻喉，骨科，穿刺，气管等各种各样的机器人几十种，大家都觉得高价值、高技术门槛、高利润空间，但是现在在市场端还没有得到有效的反馈。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">医疗机器人赛道充满希望，但也存在价格贵、体量大、解决不够全面等具体问题。portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">未来，医疗机器人应具有更高的安全性、更低的价格与更好的兼容性，这是大面积推广应用不可避免的问题。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">在技术层面上，未来，新型传动、AR/VR手术 、半自主手术、视触反馈技术、多新型感知、智能人机交互、远程手术技术等会在医疗机器人上会得到很好的发展。