血管介入手术机器人的腔内器械自动识别与跟踪研究进展

Research progress on surgical instrument automatic recognition and tracking for endovascular interventional robotics

在血管外科领域,血管介入手术是一种高效的微创治疗方法。然而,传统的介入手术方法需要医生长时间穿戴防护铅衣,并且存在暴露于辐射的风险,这不仅为医生带来健康隐患,还可能对手术效率产生不利影响。随着血管腔内介入手术机器人(EIR)的研发应用,可在减少医生辐射暴露的同时,提供相较于传统方法更高的操作精度和稳定性。介入器械的自动识别和实时跟踪两大关键技术可以使得EIR在复杂的介入手术中拥有对器械方位的把控能力和判断能力,从而保证治疗的质量和安全。目前研究大多倾向利用介入影像实现EIR在血管结构中实时、准确地检测和定位器械,即令机器人观察图像信息进行手术。与此同时,介入器械识别技术与EIR的协同工作具有重大潜在价值。这要求机器人不仅要能精准执行命令,更需能够理解和预测医生的操作意图。随着人工智能技术的发展,有望在辅助机器人更精确地识别和跟踪器械并修改定位误差方面提供支持,实现真正的协同手术。在此,笔者分析介入器械的自动识别和实时跟踪两大技术在EIR领域的应用情况,综合讨论它们的临床应用前景,并对国内外相关技术的发展进行对比和总结。

In the field of vascular surgery,vascular intervention surgery is an efficient minimally invasive treatment method.However,traditional intervention procedures require doctors to wear lead aprons for an extended period of time,and there is also a risk of radiation exposure.This not only poses health hazards for the medical professionals but also has the potential to adversely affect surgical efficiency.With the development and application of endovascular interventional robotics(EIR),it is possible to reduce doctor's radiation exposure while providing higher operational precision and stability over traditional methods.Two key technologies,automatic instrument recognition and real-time tracking,enable EIR to control and assess the orientation of instruments in complex intervention surgeries,ensuring the quality and safety of treatments.Current research predominantly focuses on using intervention imaging to enable EIR to accurately detect and locate instruments in blood vessels in real-time,essentially allowing the robot to perform surgery based on observed image information.Simultaneously,the collaborative work of instrument recognition technology with EIR have significant potential value.This requires robots not only to execute commands precisely but also to understand and predict the operator's intentions.The development of artificial intelligence technology,is expected to support robots in more accurately identifying and tracking instruments and correcting positioning errors,ultimately achieving true collaborative surgery.Here,the authors analyze the application of the two major technologies,automatic instrument recognition and real-time tracking,in the field of EIR,and comprehensively discuss their prospects for clinical applications,along with of the development of relevant technologies both domestically and abroad.