Design of patient-specific concentric tube robots using path planning from 3-D ultrasound.
Design of patient-specific concentric tube robots using path planning from 3-D ultrasound.
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DOI：
10.1109/embc.2017.8036788
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发表时间：
2017-07
期刊：
影响因子：
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通讯作者：
Linguraru MG
中科院分区：
文献类型：
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作者：
Morimoto TK;Cerrolaza JJ;Hsieh MH;Cleary K;Okamura AM;Linguraru MG
经皮技术和机器人辅助手术系统实现了微创手术，与传统的开放手术相比，可减少疤痕、恢复时间和并发症。尽管有这些改进，但由于组织的介入，使用标准的、基于直针的经皮技术进入患病部位对于某些手术来说仍然受到限制。在特定的患者群体中，这些限制可能会进一步加剧，特别是儿科患者，他们的解剖结构不适合传统的工具和系统。因此，我们提出了一种针对患者的范例，根据患者的术前图像设计和制造灵巧的机器人工具。在本文中，我们介绍了我们提出的范例的主要步骤 - 基于图像的路径规划、机器人设计和制造 - 以及一个示例案例，该示例案例重点介绍一类称为同心管机器人的灵巧蛇状工具。我们演示了使用患者的术前超声图像规划安全路径。然后，我们确定实现该路径所需的同心管机器人参数，最后，我们使用 3D 打印来制造患者专用机器人。
Percutaneous techniques and robot-assisted surgical systems have enabled minimally invasive procedures that offer reduced scarring, recovery time, and complications compared to traditional open surgeries. Despite these improvements, access to diseased sites using the standard, straight needle-based percutaneous techniques is still limited for certain procedures due to intervening tissues. These limitations can be further exacerbated in specific patient groups, particularly pediatric patients, whose anatomy does not fit the traditional tools and systems. We therefore propose a patient-specific paradigm to design and fabricate dexterous, robotic tools based on the patient’s preoperative images. In this paper, we present the main steps of our proposed paradigm – image-based path planning, robot design, and fabrication – along with an example case that focuses on a class of dexterous, snake-like tools called concentric tube robots. We demonstrate planning a safe path using a patient’s preoperative ultrasound images. We then determine the concentric tube robot parameters needed to achieve this path, and finally, we use 3-D printing to fabricate the patient-specific robot.