面向NOTES手术的软镜操作机器人技术进展

doi:10.3901/JME.2024.17.040

机械工程学报 ›› 2024, Vol. 60 ›› Issue (17): 40-62.doi: 10.3901/JME.2024.17.040

• 特邀专栏：面向人民生命健康的机器人技术 • 上一篇下一篇

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面向NOTES手术的软镜操作机器人技术进展

王翔宇^1,2,3, 任帆^1,2, 刘冲^1,2, 许思昂^1,2, 王龙昕^1,2, 方勇纯^1,2,3, 于宁波^1,2,3, 韩建达^1,2,3

1. 南开大学人工智能学院天津 300350;
2. 可信行为智能算法与系统教育部工程研究中心天津 300350;
3. 南开大学深圳研究院智能技术与机器人系统研究院深圳 518083

收稿日期:2023-08-07 修回日期:2024-03-14 发布日期:2024-10-21
作者简介:王翔宇，男，1994年出生，博士，助理研究员。主要研究方向为经自然腔道手术机器人，非线性控制，运动规划。E-mail:wangxyu@nankai.edu.cn
方勇纯，男，1973年出生，博士，教授，博士研究生导师。主要研究方向为机器人视觉控制，欠驱动系统，非线性控制。E-mail:fangyc@nankai.edu.cn
于宁波(通信作者)，男，1981年出生，博士，教授，博士研究生导师。主要研究方向为机器人与智能系统，人与机器人的交互、协作与控制，康复训练、医疗辅助和智能服务机器人。E-mail:nyu@nankai.edu.cn
韩建达，男，1968年出生，博士，教授，博士研究生导师。主要研究方向为机器人自主行为共性技术，医疗与康复机器人共性技术与系统，移动机器人系统。E-mail:hanjianda@nankai.edu.cn
基金资助:
国家重点研发计划(2022YFB4702800)、国家自然科学基金(62303248)、广东省基础与应用基础研究基金(2024A1515010102,2023A1515110678)、深圳市科技计划(KQTD20210811090143060)和中国博士后科学基金(2023M731804)资助项目。

Advancement of Flexible Endoscopic Robots Technologies for NOTES

WANG Xiangyu^1,2,3, REN Fan^1,2, LIU Chong^1,2, XU Siang^1,2, WANG Longxin^1,2, FANG Yongchun^1,2,3, YU Ningbo^1,2,3, HAN Jianda^1,2,3

1. College of Artificial Intelligence, Nankai University, Tianjin 300350;
2. Engineering Research Center of Trusted Behavior Intelligence Ministry of Education, Tianjin 300350;
3. Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518083

Received:2023-08-07 Revised:2024-03-14 Published:2024-10-21

摘要/Abstract

摘要： 软式内窥镜(简称软镜)是实现经自然腔道内镜手术(Natural orifice transluminal endoscopic surgery, NOTES)的关键器械，由于柔性镜体本身所具有的安全性高、可达范围广和运动灵活等优势，软镜操作技术已经被应用在越来越多种类的外科手术中。考虑到人工操作过程中存在难度大、学习周期长、人力成本高、依赖临床经验和易受有害辐射等问题，研发并利用软镜操作机器人代替人工操作，可以实现更加安全、精准、智能的NOTES手术。旨在总结当前软镜操作机器人在建模、控制与规划方面的研究现状，探讨相关技术的研究趋势和面临的挑战。介绍了国内外代表性软镜操作机器人系统，总结了现有软镜操作机器人系统的运动特点。从模型、控制和规划三个角度对当前的软镜操作机器人技术进行了详尽的研究现状综述。总结和分析了当前研究内容中的不足和自主化软镜操作技术发展所面临的挑战，并对软镜操作机器人的进一步研究方向进行展望。

关键词: 软镜操作机器人, 柔性内窥镜, 腱鞘人工肌肉, 软镜控制, 运动规划

Abstract: Flexible endoscope is a crucial instrument for achieving natural orifice transluminal endoscopic surgery (NOTES). Due to the advantages of high safety, broad reachability, and flexible operation offered by the flexible endoscope, its operational techniques have been increasingly applied in various kinds of transluminal/intraluminal procedures. Considering the challenges posed by manual operations, such as difficulties, long learning curves, high labour costs, reliance on clinical experience, and exposure to harmful radiation, the development and utilization of robotic soft endoscopes can achieve safer, more precise, and intelligent NOTES procedures. This review aims to summarize the current research status of robotic flexible endoscopic robots in modelling, control, and planning aspects, while exploring the research trends and challenges in related technologies. Representative robotic soft endoscopy systems from both domestic and international sources are introduced, and the motion characteristics of existing robotic soft endoscopy systems are summarized. A comprehensive review of current robotic soft endoscopy technologies is conducted from the perspectives of modelling, control, and planning.This review concludes and analyses the deficiencies in current research and the challenges faced in the development of autonomous robotic soft endoscopy technology, while also providing prospects for future research directions in robotic soft endoscopy.

Key words: flexible endoscopic robot, flexible endoscope, tendon-sheath artificial muscle, flexible endoscope control, motion planning

中图分类号:

R318

王翔宇, 任帆, 刘冲, 许思昂, 王龙昕, 方勇纯, 于宁波, 韩建达. 面向NOTES手术的软镜操作机器人技术进展[J]. 机械工程学报, 2024, 60(17): 40-62.

WANG Xiangyu, REN Fan, LIU Chong, XU Siang, WANG Longxin, FANG Yongchun, YU Ningbo, HAN Jianda. Advancement of Flexible Endoscopic Robots Technologies for NOTES[J]. Journal of Mechanical Engineering, 2024, 60(17): 40-62.

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面向NOTES手术的软镜操作机器人技术进展

Advancement of Flexible Endoscopic Robots Technologies for NOTES

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