一种新型支气管镜手术机器人系统

A Novel Robotic Bronchoscopic Surgical System

经支气管镜活检术较经皮穿刺术创伤小、恢复快,但要实现该类手术的自动化,就要研发出融合电磁导航和柔性内窥镜的手术机器人系统。该支气管镜手术机器人系统集成了纤柔内镜、遥操作手柄、电磁导航、多自由度机械臂,能完成术前肺支气管模型分割重建、手术路径自动规划、术中路径实时导航和可视化活检。在内窥镜导管运动控制上,提出了弹性补偿算法以提升导管位姿控制精度。临床试验表明,该支气管镜手术机器人系统定位精度高、操作简单直观,能显著提升手术效率,缩短医生学习时间,减轻手术操作负担,降低辐射暴露和感染率。

Transbronchil biopsy has the characteristic of less trauma and quick recovery compared to percutaneous aspiration biopsy. In order to automate this procedure, it requires the development of a robotic surgical system that combines electromagnetic navigation and flexible endoscope. The robotic surgical system introduced herein consists of flexible endoscope, remote-control handle, electromagnetic navigation and dexterous manipulators. The robotic system supports lung bronchial model segmentation and reconstruction, automatic bronchial path planning, real-time navigation and visual biopsy. In the control of the endoscopic catheter, an elasticity compensation algorithm was proposed to improve the location accuracy of the catheter and operational efficiency. Clinical trials proved that the robotic system had high positioning accuracy, was intuitive to operate, and could improve the biopsy efficiency, shorten the learning time, reduce the burden of surgical operations, and lower radiation exposure and infection rate.