Motion Planning for a Three-Stage Multilumen Transoral Lung Access System.
Motion Planning for a Three-Stage Multilumen Transoral Lung Access System.
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DOI：
10.1109/iros.2015.7353829
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发表时间：
2015-09
期刊：
影响因子：
--
通讯作者：
Alterovitz R
中科院分区：
文献类型：
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作者：
Kuntz A;Torres LG;Feins RH;Webster RJ 3rd;Alterovitz R
肺癌是癌症相关死亡的主要原因，早期诊断对生存至关重要。确诊通常需要活检，但目前低风险的肺活检临床选择不能进入所有活检点。我们介绍了一种用于多腔经口腔肺通路系统的运动规划器，这是一种新的系统，它有可能在肺内的任何地方进行安全的活检，这可以使肺癌的早期诊断更加有效。该系统包括三个阶段，其中经口腔将支气管镜部署到肺部，同心管机器人通过支气管穿透进入肺实质，可定向的针通过适当定向的同心管展开并引导通过肺实质到达目标位置，同时避开诸如重要血管的解剖障碍。基于采样的运动规划器为系统的每个阶段计算动作，并以有效的方式考虑各阶段的耦合。我们演示了运动规划器的快速性能和在模拟解剖场景中计算高清除障碍物的计划的能力。
Lung cancer is the leading cause of cancer-related death, and early-stage diagnosis is critical to survival. Biopsy is typically required for a definitive diagnosis, but current low-risk clinical options for lung biopsy cannot access all biopsy sites. We introduce a motion planner for a multilumen transoral lung access system, a new system that has the potential to perform safe biopsies anywhere in the lung, which could enable more effective early-stage diagnosis of lung cancer. The system consists of three stages in which a bronchoscope is deployed transorally to the lung, a concentric tube robot pierces through the bronchial tubes into the lung parenchyma, and a steerable needle deploys through a properly oriented concentric tube and steers through the lung parenchyma to the target site while avoiding anatomical obstacles such as significant blood vessels. A sampling-based motion planner computes actions for each stage of the system and considers the coupling of the stages in an efficient manner. We demonstrate the motion planner's fast performance and ability to compute plans with high clearance from obstacles in simulated anatomical scenarios.