面向NOTES手术的软镜操作机器人技术进展  

Advancement of Flexible Endoscopic Robots Technologies for NOTES

作　　者：王翔宇 任帆 刘冲 许思昂 王龙昕 方勇纯 于宁波[1,2,3] 韩建达 WANG Xiangyul;REN Fanl;LIU Chong;XU Siang;WANG Longxinl;FANG Yongchun;YU Ningbol;HAN Jiandal(College of Artificial Intelligence,Nankai University,Tianjin 300350;Engineering Research Center of Trusted Behavior Intelligence Ministry of Education,Tianjin 300350;Institute of Intelligence Technology and Robotic Systems,Shenzhen Research Institute of Nankai University,Shenzhen 518083)

机构地区：[1]南开大学人工智能学院,天津300350 [2]可信行为智能算法与系统教育部工程研究中心,天津300350 [3]南开大学深圳研究院智能技术与机器人系统研究院,深圳518083

出　　处：《机械工程学报》2024年第17期40-62,共23页Journal of Mechanical Engineering

基　　金：国家重点研发计划(2022YFB4702800);国家自然科学基金(62303248);广东省基础与应用基础研究基金(2024A1515010102,2023A1515110678);深圳市科技计划(KQTD20210811090143060);中国博士后科学基金(2023M731804)资助项目。

摘　　要：软式内窥镜(简称软镜)是实现经自然腔道内镜手术(Natural orifice transluminal endoscopic surgery,NOTES)的关键器械,由于柔性镜体本身所具有的安全性高、可达范围广和运动灵活等优势,软镜操作技术已经被应用在越来越多种类的外科手术中。考虑到人工操作过程中存在难度大、学习周期长、人力成本高、依赖临床经验和易受有害辐射等问题,研发并利用软镜操作机器人代替人工操作,可以实现更加安全、精准、智能的NOTES手术。旨在总结当前软镜操作机器人在建模、控制与规划方面的研究现状,探讨相关技术的研究趋势和面临的挑战。介绍了国内外代表性软镜操作机器人系统,总结了现有软镜操作机器人系统的运动特点。从模型、控制和规划三个角度对当前的软镜操作机器人技术进行了详尽的研究现状综述。总结和分析了当前研究内容中的不足和自主化软镜操作技术发展所面临的挑战,并对软镜操作机器人的进一步研究方向进行展望。Flexible endoscope is a crucial instrument for achieving natural orifice transluminal endoscopic surgery(NOTES).Due to the advantages of high safety,broad reachability,and flexible operation offered by the flexible endoscope,its operational techniques have been increasingly applied in various kinds of transluminal/intraluminal procedures.Considering the challenges posed by manual operations,such as difficulties,long learning curves,high labour costs,reliance on clinical experience,and exposure to harmful radiation,the development and utilization of robotic soft endoscopes can achieve safer,more precise,and intelligent NOTES procedures.This review aims to summarize the current research status of robotic flexible endoscopic robots in modelling,control,and planning aspects,while exploring the research trends and challenges in related technologies.Representative robotic soft endoscopy systems from both domestic and international sources are introduced,and the motion characteristics of existing robotic soft endoscopy systems are summarized.A comprehensive review of current robotic soft endoscopy technologies is conducted from the perspectives of modelling,control,and planning.This review concludes and analyses the deficiencies in current research and the challenges faced in the development of autonomous robotic soft endoscopy technology,while also providing prospects for future research directions in robotic soft endoscopy.

关 键 词：软镜操作机器人 柔性内窥镜 腱鞘人工肌肉 软镜控制 运动规划 

分 类 号：R318[医药卫生—生物医学工程]