Design and Modelling of a Continuum Robot for Distal Lung Sampling in Mechanically Ventilated Patients in Critical Care.
Design and Modelling of a Continuum Robot for Distal Lung Sampling in Mechanically Ventilated Patients in Critical Care.
复制标题
DOI：
10.3389/frobt.2021.611866
复制
发表时间：
2021
影响因子：
3.4
通讯作者：
Khadem M
中科院分区：
文献类型：
--
作者：
Mitros Z;Thamo B;Bergeles C;da Cruz L;Dhaliwal K;Khadem M
在本文中，我们设计和开发了一种新型的机械支气管镜，用于重症监护病房机械通气(MV)患者的远端肺采样。尽管患有肺炎的MV患者成本较高，发病率和死亡率接近40%，但对患有新冠肺炎等一系列肺部疾病的MV患者进行远端肺采样并不标准化，缺乏可重复性，需要专业操作人员。我们提出了一种机械支气管镜，通过克服在MV患者进行支气管镜检查时遇到的重大挑战，即支气管镜的灵活性有限、大尺寸阻碍通风和解剖配准差，使得能够对远端肺病理进行可重复的采样和指导。我们研制了一种7自由度、外径4.5 mm、内径2 mm的机械支气管镜。原型是一个推/拉驱动的连续体机器人，能够在肺内灵活操作，并对远端呼吸道进行可视化/采样。设计了机器人样机，建立了机械支气管镜的力学模型。此外，我们还开发了一种新的数值求解器，提高了模型的计算效率，方便了机器人的部署。通过实验验证了模型的设计，并对模型的精度和计算成本进行了评估。结果表明，该模型可以在0.011秒内预测机器人的形状，平均误差为1.76厘米，为未来在MV患者中部署机器人支气管镜提供了可能。
In this paper, we design and develop a novel robotic bronchoscope for sampling of the distal lung in mechanically-ventilated (MV) patients in critical care units. Despite the high cost and attributable morbidity and mortality of MV patients with pneumonia which approaches 40%, sampling of the distal lung in MV patients suffering from range of lung diseases such as Covid-19 is not standardised, lacks reproducibility and requires expert operators. We propose a robotic bronchoscope that enables repeatable sampling and guidance to distal lung pathologies by overcoming significant challenges that are encountered whilst performing bronchoscopy in MV patients, namely, limited dexterity, large size of the bronchoscope obstructing ventilation, and poor anatomical registration. We have developed a robotic bronchoscope with 7 Degrees of Freedom (DoFs), an outer diameter of 4.5 mm and inner working channel of 2 mm. The prototype is a push/pull actuated continuum robot capable of dexterous manipulation inside the lung and visualisation/sampling of the distal airways. A prototype of the robot is engineered and a mechanics-based model of the robotic bronchoscope is developed. Furthermore, we develop a novel numerical solver that improves the computational efficiency of the model and facilitates the deployment of the robot. Experiments are performed to verify the design and evaluate accuracy and computational cost of the model. Results demonstrate that the model can predict the shape of the robot in <0.011s with a mean error of 1.76 cm, enabling the future deployment of a robotic bronchoscope in MV patients.
登录
查看更多内容
影响因子：
23.4
作者：
Kaouk, Jihad H.;Haber, Georges-Pascal;Villers, Arnauld
通讯作者：
Villers, Arnauld
具有解耦运动学的模块化连续铰接腹腔镜机器人工具的设计
影响因子：
5.2
作者：
Wu, Zhonghao;Li, Qi;Xu, Kai
通讯作者：
Xu, Kai
影响因子：
5.2
作者：
Mitros Z;Sadati S;Seneci C;Bloch E;Leibrandt K;Khadem M;da Cruz L;Bergeles C
通讯作者：
Bergeles C
影响因子：
4.6
作者：
Riojas, Katherine E.;Anderson, Patrick L.;Webster, Robert J., III
通讯作者：
Webster, Robert J., III
上海交通大学可折叠单孔腹腔镜机器人系统（SURS）的开发
影响因子：
6.4
作者：
Xu, Kai;Zhao, Jiangran;Fu, Minxiao
通讯作者：
Fu, Minxiao