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Design of a flexible robot toward transbronchial lung biopsy

Published online by Cambridge University Press:  27 September 2022

Runtian Zhang Open the ORCID record for Runtian Zhang [Opens in a new window] ,
Dongsheng Xie Open the ORCID record for Dongsheng Xie [Opens in a new window] ,
Chao Qian ,
Xingguang Duan  and
Changsheng Li
Runtian Zhang
Affiliation:
School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing 100081, China
Dongsheng Xie
Affiliation:
Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing 100081, China Institute of Engineering Medicine, Beijing Institute of Technology, Beijing 100081, China
Chao Qian
Affiliation:
School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing 100081, China
Xingguang Duan
Affiliation:
School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing 100081, China Institute of Engineering Medicine, Beijing Institute of Technology, Beijing 100081, China
Changsheng Li*
Affiliation:
School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing 100081, China
*
*Corresponding author. E-mail: [email protected]
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Abstract

Transbronchial lung biopsy is an effective and less-invasive treatment for the early diagnosis of lung cancer. However, the limited dexterity of existing endoscopic instruments and the complexity of bronchial access prevent the application of such procedures mainly for biopsy and diagnosis. This paper proposes a flexible robot for transbronchial lung biopsy with a cable-driven mechanism-based flexible manipulator. The robotic system of transbronchial lung biopsy is presented in detail, including the snake-bone end effector, the flexible catheters and the actuation unit. The kinematic analysis of the snake-bone end effector is conducted for the master-slave control. The experimental results show that the end effector reaches the target nodule through a narrow and tortuous pathway in a bronchial model. In conclusion, the proposed robotic system contributes to the field of advanced endoscopic surgery with high flexibility and controllability.

Keywords

surgical roboticstransbronchial lung biopsycable-driven mechanismflexible mechanism
Type
Research Article
Information
Robotica , Volume 41 , Issue 3 , March 2023 , pp. 1055 - 1065
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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