A Novel Robotic Bronchoscope System for Navigation and Biopsy of Pulmonary Lesions  

作　　者：Xingguang Duan Dongsheng Xie Runtian Zhang Xiaotian Li Jiali Sun Chao Qian Xinya Song Changsheng Li 

机构地区：[1]School of Medical Technology,Beijing Institute of Technology,Beijing 100081,China [2]School of Mechatronical Engineering,Beijing Institute of Technology,Beijing 100081,China

出　　处：《Cyborg and Bionic Systems》2023年第1期441-451,共11页类生命系统（英文）

基　　金：supported by Beijing Municipal Natural Science Foundation-Haidian Primitive Innovation Joint Fund Project(no.L202021);National Natural Science Foun-dation of China(no.62003045);National Natural Sci-ence Foundation of China-Shenzhen Robotics Research Center Project(no.U2013209).

摘　　要：Transbronchial biopsy sampling,as a minimally invasive method with relatively low risk,has been proved to be a promising treatment in the field of respiratory surgery.Although several robotic bronchoscopes have been developed,it remains a great challenge to balance size and flexibility,while integrating multisensors to realize navigation during complex airway networks.This paper proposes a novel robotic bronchoscope system composed by end effector with relatively small size,relevant actuation unit,and navigation system with path planning and surgical guidance capability.The main part of the end effector is machined by bidirectional groove on a nickel-titanium tube,which can realize bending,rotation,and translation 3 degrees of freedom.A prototype of the proposed robotic bronchoscope system is designed and fabricated,and its performance is tested through several experiments to verify the stiffness,flexibility,and navigation performance.The results show that the proposed system is with good environment adaptiveness,and it can become a promising biopsy method through natural cavity of the human body.

关 键 词：SYSTEM integrating TITANIUM 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]