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Development of Surgical Robot for CT-Guided Lung Biopsy

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【Author】 ZHANG Han;ZHANG Guoliang;FENG Shengjie;LI Qingyun;QU Jieming;XIE Le;Institute of Forming Technology and Equipment,School of Materials Science and Engineering,Shanghai Jiao Tong University;Department of Pulmonary and Critical Care Medicine,Ruijin Hospital,Shanghai Jiao Tong University School of Medicine;Institute of Respiratory Diseases,Shanghai Jiao Tong University School of Medicine;Shanghai Key Laboratory of Emergency Prevention,Diagnosis and Treatment of Respiratory Infectious Diseases;Institute of Medical Robotics,Shanghai Jiao Tong University;

【通讯作者】李庆云;瞿介明;谢叻;

【机构】 Institute of Forming Technology and Equipment,School of Materials Science and Engineering,Shanghai Jiao Tong University； Institute of Medical Robotics,Shanghai Jiao Tong University； Department of Pulmonary and Critical Care Medicine,Ruijin Hospital,Shanghai Jiao Tong University School of Medicine； Institute of Respiratory Diseases,Shanghai Jiao Tong University School of Medicine； Shanghai Key Laboratory of Emergency Prevention,Diagnosis and Treatment of Respiratory Infectious Diseases；

【摘要】 Traditional lung biopsy procedures are complicated and time-consuming due to the lack of realtime imaging guidance,requiring physicians to frequently move between the operating room and computerized tomography(CT) imaging equipment.Robotics has been widely applied in medical surgeries,yet meeting the requirements for lung biopsy procedures with assured accuracy and safety remains a topic of research.This paper introduces a surgical robot for CT-guided lung biopsy.A kinematic analysis of the robot mechanism is conducted,and a master-slave control system tailored for this robot is developed.A force feedback algorithm is proposed to ensure the reliability and realism of the surgical process.Finally,the system ’s feasibility is verified by the mechanism positioning accuracy experiment and the targeting accuracy experiment,and in vivo animal experiment is conducted to lay the foundation for clinical application.更多还原

【Abstract】 Traditional lung biopsy procedures are complicated and time-consuming due to the lack of realtime imaging guidance,requiring physicians to frequently move between the operating room and computerized tomography(CT) imaging equipment.Robotics has been widely applied in medical surgeries,yet meeting the requirements for lung biopsy procedures with assured accuracy and safety remains a topic of research.This paper introduces a surgical robot for CT-guided lung biopsy.A kinematic analysis of the robot mechanism is conducted,and a master-slave control system tailored for this robot is developed.A force feedback algorithm is proposed to ensure the reliability and realism of the surgical process.Finally,the system ’s feasibility is verified by the mechanism positioning accuracy experiment and the targeting accuracy experiment,and in vivo animal experiment is conducted to lay the foundation for clinical application.更多还原

【关键词】 robot-assisted surgery； master-slave control； kinematics model； force feedback；
【Key words】 robot-assisted surgery； master-slave control； kinematics model； force feedback；

【基金】 supported by the Interdisciplinary Program of Shanghai Jiao Tong University (Nos.YG2023ZD05 and YG2023ZD14);the Laboratory Open Fund of Key Technology and Materials in Minimally Invasive Spine Surgery (No.2024JZWC-ZDA03)

【文献出处】 Journal of Shanghai Jiao Tong University(Science) ,上海交通大学学报(英文版) , 编辑部邮箱 ,2026年01期

【分类号】TH789;TP242

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