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基于图像处理的目标组织识别,用于调节自动机器人肺部活检采样器:现场幻影验证.

Maria Monserrat Diaz-Hernandez1, Gerardo Ramirez-Nava2, Isaac Chairez2

  • 1Tecnologico de Monterrey, School of Engineering and Sciences, Guadalajara 45210, Mexico.

Sensors (Basel, Switzerland)
|March 14, 2026
PubMed
概括
此摘要是机器生成的。

这项研究引入了用于肺活检的自主机器人系统,使用图像处理和闭环控制器以高精度准确地准和取样模拟的癌症组织.

关键词:
自动活检采样自动活检采样图像处理是图像处理的过程.医疗机器人 医疗机器人多个机器人配置的多个机器人配置.无线电药物 无线电药物

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 医疗成像医学成像
  • 在瘤学瘤学.

背景情况:

  • 癌症诊断很大程度上依赖于活检,但手动手术面临诸如组织移动和准精度等挑战,特别是在肺活检中.
  • 机器人辅助提供了潜在的解决方案,以提高活检程序的精度和自动化.

研究的目的:

  • 在闭环控制器中设计和实施一个自主图像处理算法,用于机器人操纵器执行模拟肺活检.
  • 为了准确识别癌细胞组织,确定目标轨迹,并引导机器人活检针.

主要方法:

  • 开发一个六度自由度的机器人操纵器,与图像处理算法集成,用于自主操作.
  • 使用现实的肺运动模拟器与光子发射器来模拟放射性药物识别癌症组织.
  • 实现了有限时间的融合控制器,以指导机器人操纵器的终端效应器在定义的时间内到达瘤的中心质.

主要成果:

  • 图像处理算法成功识别了模拟癌细胞组织的中心体和边界.
  • 机器人系统以0.52毫米的偏差实现了模拟瘤的精确跟踪.
  • 控制器表现出有效的指导,轨迹跟踪的定位时间不到1秒.

结论:

  • 具有图像处理和有限时间融合控制器的自主机器人系统显示出对准确和高效的肺活检具有重大承诺.
  • 这项技术有可能克服手动活检的局限性,改善肺癌的诊断程序.