面向使用基于视觉伺服控制的电磁驱动软结肠镜进行半自动结肠查
IEEE transactions on bio-medical engineering
|July 5, 2023
概括
这项研究引入了电磁驱动软连接 (EAST) 结肠镜,以视觉伺服器为基础的半自动控制来增强机器人结肠镜. 这项创新旨在减少外科医生的工作量,并提高结肠镜手术过程中的患者舒适度.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 医疗器械 医疗器械
- 胃肠病学 胃肠病学
背景情况:
- 传统的结肠镜面临的挑战是患者的不适和复杂的外科医生操纵.
- 现有的机器人结肠镜经常保留困难的控制方案,限制了广泛的临床采用.
- 需要更直观和自动化的机器人系统来改善结肠镜检查程序.
研究的目的:
- 为了演示基于伺服器的视觉半自主操纵,用于电磁驱动软连接 (EAST) 结肠镜.
- 为了减少机器人结肠镜操纵的困难,并提高临床适用性.
- 为了提高自主性和减少机器人结肠镜中的用户工作量.
主要方法:
- 开发了动态建模和适应视觉伺服控制器用于EAST结肠镜.
- 实现模板匹配和半自动控制的光度/多检测模型.
- 启用了自动关注区域跟踪和自主导航,并具有多重体检测功能.
主要成果:
- EAST结肠镜实现了视觉伺服,平均收时间为2.5秒,干扰排斥在3.0秒内.
- 半自主操纵成功地在结肠镜模拟器和活体猪结肠中进行.
- 与传统的手动控制方法相比,证明了用户工作量减少.
结论:
- 在实验室和实验室环境下,EAST结肠镜成功地进行了视觉伺服和半自动操纵.
- 开发的技术增强了机器人结肠镜的自主性.
- 这些进步有助于开发和临床翻译更易于使用的机器人结肠镜系统.
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