一个实时的,半自动导航平台,用于软机器人支气管镜检查.
Daniel Van Lewen1, Yitong Lu1, Frank Juliá-Wise1
1Authors are with the Department of Mechanical Engineering, Boston University, Boston, MA 02215 (USA).
IEEE robotics and automation letters
|September 19, 2025
概括
这项研究引入了一种用于增强支气管镜检查的新型软机器人平台,使其能够精确地导航到外围肺气道. 该系统能够精确地准小肺分支,从而提高了病变诊断能力.
科学领域:
- 医疗机器人 医疗机器人
- 最少侵入性的手术
- 生物医学工程 生物医学工程
背景情况:
- 通过传统的支气管镜诊断周围肺病变是具有挑战性的,因为在航行狭窄的呼吸道的限制.
- 软连续机器人在规模,灵巧性和适应性方面提供了潜在的优势,用于改进支气管镜手术.
研究的目的:
- 开发和验证一个实时,半自主导航平台,用于外围肺部支气管镜检查.
- 利用软连续机器人提高机动性和精度,在复杂的肺结构中导航.
主要方法:
- 一个外径2.5毫米的软连续机器人与UR5e机器人臂集成,用于精确的插入和操纵.
- 通过机载可视化和电磁跟踪实现了闭环反.
- 基于YOLO的计算机视觉算法和驾驶算法引导机器人沿着预先规划的路径到达目标分支.
主要成果:
- 该平台展示了足够的机器人尖端灵敏度和工作空间,用于导航周围肺气道.
- 成功导航到第六代肺分支,并从体外肺幻影中实现了.
- 该系统到达肺周边,平均目标误差为1.1毫米.
结论:
- 拟议的软机器人导航平台能够准确和深入地进入外围肺气道.
- 这项技术具有显著的潜力,可以通过先进的支气管镜检查来改善周边肺病变的诊断和治疗.
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