中文摘要：

针对目前机器人辅助腹腔介入肝癌消融治疗系统术中监测仅靠跟踪二维图像信息进行手术风险判断，缺乏定量信息的问题进行了实时术中风险分析研究，提出了一种有效的术中风险分析算法，其途径是将求取做穿刺运动的消融针与腹腔内重要组织器官之间的最短距离和所对应的时间转化为凸优化问题，并采用内点法对凸优化问题进行求解。仿真实验证明了这种基于内点法的术中风险分析算法的有效性、实时性、通用性。此外，将腹腔环境障碍物以及消融针表示为三阶连续可导隐函数，还可实现多个凸体之间的碰撞监测，为医生监测手术实施有效提供定量的术中风险分析信息。

英文摘要：

An effective realtime intraoperative risk analysis algorithm for robotassisted liver tumor coagulation therapy systems was proposed to solve the problem that the systems＇ risk analysis still depends on twodimensional image in formation in celiac intervention therapy due to the lack of quantitative information during intraoperative monitoring. The key to the algorithm is that the shortest distance between the moving needles and the important tissues and or gans in the abdominal cavity, and the corresponding time are transformed into the convex optimization problem for analysis. This convex optimization problem is solved based on the interior point method. The simulation results dem onstrated that the realtime risk analysis algorithm based on the interior point method was effective, realtime, and universal. The collision detection between multiple convex bodies can be realized once the obstacles and needles are expressed for the thirdorder continuously differentiable implicit function, which can provide effective quantitative risk analysis information to surgeons for surgery monitoring.