适应性气管支架植入机器人系统设计与验证

doi:10.3901/JME.2024.17.072

机械工程学报 ›› 2024, Vol. 60 ›› Issue (17): 72-79.doi: 10.3901/JME.2024.17.072

• 特邀专栏：面向人民生命健康的机器人技术 • 上一篇下一篇

扫码分享

适应性气管支架植入机器人系统设计与验证

李英田¹, 童鑫¹, 陈星宇¹, 莫菲¹, 孙众卿¹, 高兴¹, 王磊¹, 周小虎²

1. 中国科学院深圳先进技术研究院深圳 518055;
2. 中国科学院自动化研究所北京 100190

收稿日期:2023-07-31 修回日期:2023-10-08 发布日期:2024-10-21
作者简介:李英田，男，1990年出生，博士，副研究员，博士研究生导师。主要研究方向为软体机器人与医疗机器人。E-mail:yt.li@siat.ac.cn
周小虎(通信作者)，男，1986年出生，博士，研究员，博士研究生导师。主要研究方向为手术机器人与智慧医疗。E-mail:xiaohu.zhou@ia.ac.cn
基金资助:
国家自然科学基金(U21A20480,62373351,62222316)、深圳市科技计划(JCYJ20210324115609025)和中国科学院青年创新促进会(2020140)资助项目。

Design and Evaluate a Robotic Delivery System for Adaptive Airway Stent

LI Yingtian¹, TONG Xin¹, CHEN Xingyu¹, MO Fei¹, SUN Zhongqing¹, GAO Xing¹, WANG Lei¹, ZHOU Xiaohu²

1. Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055;
2. Institute of Automation, Chinese Academy of Sciences, Beijing 100190

Received:2023-07-31 Revised:2023-10-08 Published:2024-10-21

摘要/Abstract

摘要： 提出了一种气管支架的设计与制备方法以从原理上适应气管的自体差异与病变引发的结构差异，并为支架设计了软-硬可变特性以满足支架植入前后不同的刚度需求。设计了支架递入装置，通过球囊膨胀改变支架形态，保障支架在气管中的适应性变形，并为用于树脂固化的光纤预留了递送通道。设计了移动平台与五轴机械臂，为递送装置与支架提供大范围空间运动与精细递送操作的能力。集成各组件完成了适应性气管支架植入机器人系统的开发。提出了支架设计与受压变形分析理论，使用压力测试平台验证了理论的有效性并评估了支架的抗压性能。使用同一制备尺寸的支架，实现了支架对于不同内径与内结构腔道的适应性贴合。最后，使用支架植入机器人系统，在人体气管仿体中进行了气管支架植入术的实验验证。

关键词: 手术机器人, 支架植入术, 多螺旋支架, 适应性变形, 变刚度

Abstract: A design and fabrication method of a novel airway stent is proposed to adapt to the trachea's structural differences. The variable stiffness property of the stent is designed to meet the different stiffness requirements before and after stent implantation. A stent delivery device is designed to change the shape of the stent through balloon dilation, to ensure the adaptive deformation of the stent in the trachea, in which a delivery channel for the optical fiber used for resin curing is reserved. A mobile platform and a five-axis robotic arm are designed to provide spatial movement ability and fine delivery operation capabilities. Components are integrated to complete the development of the robotic system for adaptive airway stent implantation. The theoretical analysis of the stent's design and deformation is proposed, and a compression test is conducted to validate the theory and to evaluate the compressive performance of the stent. The stents ofthe same initial size exhibited adaptability tothe lumens with different internal diameters and internal structures. Finally, the proposed robotic system wasexperimentally validated by conducting tracheal stent implantation in a human tracheal phantom.

Key words: surgical robot, stent implantation, multi-helix stent, adaptive deformation, variable stiffness

中图分类号:

TP24

李英田, 童鑫, 陈星宇, 莫菲, 孙众卿, 高兴, 王磊, 周小虎. 适应性气管支架植入机器人系统设计与验证[J]. 机械工程学报, 2024, 60(17): 72-79.

LI Yingtian, TONG Xin, CHEN Xingyu, MO Fei, SUN Zhongqing, GAO Xing, WANG Lei, ZHOU Xiaohu. Design and Evaluate a Robotic Delivery System for Adaptive Airway Stent[J]. Journal of Mechanical Engineering, 2024, 60(17): 72-79.

参考文献

[1] SUNG H, FERLAY J, SIEGEL R L, et al. Global cancer statistics 2020:GLOBOCAN estimates of incidence and mortality worldwide for 36 cancers in 185 countries[J]. CA:ACancer Journal for Clinicians, 2021, 71(3):209-249.
[2] World Health Organization. WHO coronavirus (COVID-19) dashboard[EB/OL].[2023-07-29]. https://covid19.who.int/.
[3] FIORELLI S, MENNA C, MASSULLO D, et al. Managing benign tracheal stenosis during COVID-19 outbreak[J]. General Thoracic and Cardiovascular Surgery, 2021, 69(2):412-413.
[4] WOOD D, LIU Yunhen, VALLIÈRES E, et al. Airway stenting for malignant and benign tracheobronchial stenosis[J]. The Annals of Thoracic Surgery, 2003, 76(1):167-174.
[5] 王国安, 吴宏成, 吴仕波, 等. 支气管镜联合X线透视下带膜气管支架置入治疗气管食管瘘[J]. 中国内镜杂志, 2014, 20(3):282-285. WANG Guoan, WU Hongcheng, WU Shibo, et al. Deployment of covered expandable metallic airway stent under bronchoscopy and fluoroscopic guidance in patients with esophagorespiratory fistulae:report of 8 patients[J]. China Journal of Endoscopy, 2014, 20(3):282-285.
[6] HERTH F, EBERHARDT R. Airway stent:what is new and what should be discarded[J]. Current Opinion in Pulmonary Medicine, 2016, 22(3):252-256.
[7] AVASARALA S, FREITAG L, MEHTA A. Metallic endobronchial stents:a contemporary resurrection[J]. Chest, 2019, 155(6):1246-1259.
[8] LOPEZ-MINGUEZ S, SERRANO-CASORRAN C, GUIROLA J, et al. New tracheal stainless steel stent pilot study:twelve month follow-up in a rabbit model[J]. PeerJ, 2019, 7:e7797.
[9] CHENG Zhi, FOLCH E, BRIK R, et al. Three-dimensional modeled T-tube design and insertion in a patient with tracheal dehiscence[J]. Chest, 2015, 148(4):e106-e108.
[10] GUIBERT N, SAKA H, DUTAU H. Airway stenting:Technological advancements and its role in interventional pulmonology[J]. Respirology, 2020, 25(9):953-962.
[11] FREITAG L, GÖRDES M, ZAROGOULIDIS P, et al. Towards individualized tracheobronchial stents:technical, practical and legal considerations[J]. Respiration, 2017, 94(5):442-456.
[12] ZHAO Wei, ZHANG Fenghua, LENG Jinsong, et al. Personalized 4D printing of bioinspired tracheal scaffold concept based on magnetic stimulated shape memory composites[J]. Composites Science and Technology, 2019, 184:107866.
[13] SWANEY P J, MAHONEY A W, HARTLEY B I, et al. Toward transoral peripheral lung access:Combining continuum robots and steerable needles[J]. Journal of Medical Robotics Research, 2017, 2(01):1750001.
[14] DUAN Xingguang, XIE Dongsheng, ZHANG Runtian, et al. A novel robotic bronchoscope system for navigation and biopsy of pulmonary lesions[J]. Cyborg and Bionic Systems, 2023, 4:0013.
[15] SHAIK Z, RAMULU V, HANIMANN K S. A study on anatomical dimensions of bronchial tree[J]. International Journal of Research in Medical Sciences, 2017, 4:2761-2765

适应性气管支架植入机器人系统设计与验证

Design and Evaluate a Robotic Delivery System for Adaptive Airway Stent

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	李守忠, 管昀毅, 马冲, 赵剑龙, 赵宏哲. 上肢康复机器人被动变刚度驱动器建模与试验[J]. 机械工程学报, 2024, 60(3): 47-54.
[2]	张永顺, 刘高仁, 刘志军, 刘振虎, 董海. 新型电磁球型手腕解耦驱动机理[J]. 机械工程学报, 2024, 60(19): 1-10.
[3]	宗俊杰, 杨洋, 王朝董, 郑昱, 林闯, 杨斯钦, 广晨汉. 面向眼内手术的主操作器设计与零力控制方法研究[J]. 机械工程学报, 2024, 60(17): 63-71.
[4]	潘杰, 于靖军, 裴旭. 柔性手爪机构设计与变刚度技术研究发展综述[J]. 机械工程学报, 2024, 60(13): 281-296.
[5]	李特, 崔博尧, 刘海波, 李峪锌, 张国庆, 曾繁练, 王永青. 磁致变刚度原理的气动软体致动器设计与试验[J]. 机械工程学报, 2023, 59(3): 1-12.
[6]	张赫, 范志斌, 李海铭, 白明, 刘孟尧, 杨嘉辉, 赵杰. 玻璃体视网膜显微手术机器人研究进展及前沿热点[J]. 机械工程学报, 2023, 59(20): 451-469.
[7]	张赫, 李海铭, 张佳闪, 任昊, 李浩天, 赵杰. 面向腔镜微创手术的连续体机械手关键技术与研究进展[J]. 机械工程学报, 2023, 59(19): 44-64.
[8]	孙广开, 何彦霖, 于洋, 韩静, 赵冠棋, 周康鹏, 祝连庆. 连续体手术机器人光纤导航技术现状和展望[J]. 机械工程学报, 2023, 59(1): 1-18.
[9]	龙奕琳, 王彬峦, 金弘哲, 徐威铭, 赵杰. 基于差动轮系的变刚度执行器及变刚度柔性手爪[J]. 机械工程学报, 2023, 59(1): 91-102.
[10]	金天贺, 张志, 刘志明, 孙帅帅, 尹丽云. 高速列车H∞控制可变刚度悬挂系统应用研究[J]. 机械工程学报, 2022, 58(8): 204-214.
[11]	李锦龙, 刘传耙, 孙涛, 张弢, 连宾宾, 宋轶民. 面向并联骨折手术机器人的复位轨迹自动式规划方法[J]. 机械工程学报, 2022, 58(5): 26-33.
[12]	侯章浩, 田小永, 朱伟军, 兰红波, 李涤尘. 连续纤维增强复合材料变刚度结构3D打印与性能研究[J]. 机械工程学报, 2022, 58(5): 170-177.
[13]	尚祖峰, 马家耀, 王树新. 面向微创手术器械臂的可变刚度机理综述[J]. 机械工程学报, 2022, 58(21): 1-15.
[14]	雷静桃, 张悦文. 气动肌纤维驱动仿生机体类生物变刚度特性分析[J]. 机械工程学报, 2022, 58(21): 38-49.
[15]	李康康, 胡锦洋, 邢普, 张绪坤, 夏庆国. 面向柔顺装配装夹的机器人手腕变刚度机理研究[J]. 机械工程学报, 2022, 58(19): 77-85.