支气管镜手术机器人发展现状及关键技术分析  

Progress and key technology analysis of bronchoscopic robot

作　　者：段星光[1,2,3] 谢东升 方冯歆云 何睿 李长胜 DUAN Xingguang;XIE Dongsheng;FANG Fengxinyun;HE Rui;LI Changsheng(School of Medical Technology,Beijing Institute of Technology,Beijing 100081,China;School of Mechatronical Technology,Beijing Institute of Technology,Beijing 100081,China;Zhengzhou Research Institute,Beijing Institute of Technology,Zhengzhou 450000,China)

机构地区：[1]北京理工大学医学技术学院,北京100081 [2]北京理工大学机电学院,北京100081 [3]北京理工大学郑州研究院,郑州450000

出　　处：《工程科学学报》2025年第4期794-808,共15页Chinese Journal of Engineering

基　　金：国家重点研发计划资助项目(2022YFB4702600)。

摘　　要：支气管镜机器人是一种新型医疗设备,通过医疗机器人技术实现对肺部组织和病灶的高精度检测和治疗.本文综述了支气管镜机器人技术的发展现状和关键技术,探讨了支气管镜机器人在肺癌早期诊断、微创治疗等方面的应用.针对狭窄腔道柔性机器人设计、复杂气道树状网络内导航及支气管镜手术机器人控制方法等关键技术进行了讨论和分析,并在总结研究成果与分析关键技术的基础上,指出支气管镜手术机器人今后的发展趋势与面临的挑战.支气管镜机器人技术是未来医疗领域的重要发展方向,有望在提高治疗效果、减少创伤风险、提升手术效率等方面发挥重要作用.本文的工作在于全面总结和介绍支气管镜机器人技术的发展现状和应用前景,旨在为医疗领域的从业人员和研究者提供有益的参考和借鉴.In recent years,bronchoscopic robot technology has emerged as a groundbreaking advancement in medical technology,particularly in the diagnosis and treatment of lung diseases.Although traditional bronchoscopy is effective,it is associated with significant challenges in achieving the level of precision required for accurately detecting and treating lung tissue and lesions.Although navigation-guided bronchoscopy has made notable strides in addressing some of these limitations,further improvements are necessary to enhance its precision,accessibility,and overall effectiveness.Bronchoscopic robot technology bridges this gap by integrating robotics and advanced imaging sensors to improve diagnostic and therapeutic capabilities.The core of bronchoscopic robot technology lies in its ability to combine robotic arm dexterity with the clarity provided by state-of-the-art imaging systems.This synergy allows for highly precise detection and treatment of lung tissue and lesions.The inherent flexibility of robotic arms enables physicians to navigate complex bronchial networks with ease,facilitating accurate lesion localization,performing delicate biopsies,and conducting minimally invasive surgical procedures.These capabilities represent a significant leap forward in treating lung diseases,providing clinicians with tools that surpass the limitations of conventional bronchoscopy in terms of precision and control.This paper provides a comprehensive overview of the current development status and the key technologies underpinning bronchoscopic robot technology.The first step is to analyze the application of this technology in clinical diagnosis and treatment.This review examines the use of bronchoscopic robots in medical settings and evaluates their impact on procedural accuracy and efficiency.By highlighting real-world applications,this paper emphasizes the transformative role that this technology plays in improving lung disease outcomes.The second focus of this paper delves into the technical principles that form the foundation of

关 键 词：支气管镜机器人系统 柔性机构 动态导航 共享控制 经支气管肺活检 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]