用CT引导机器人柔性内窥镜精准导航，提升鼻窦炎诊断效率
A CT-guided Control Framework of a Robotic Flexible Endoscope for the Diagnosis of the Maxillary Sinusitis
- 基于CT图像规划内窥镜安全路径，实现自动导航
- 在鼻窦模型上成功实现自主追踪路径，定位准确率达100%
- 适合耳鼻喉外科医生快速开展鼻窦疾病早期筛查
柔性内窥镜因可及性强、灵活性高，常用于狭窄解剖腔道的诊疗。但手动操作耗时且易发生碰撞，增加术者负担。本文提出一种基于CT引导的机器人柔性内窥镜控制框架，用于上颌窦炎的诊断。该框架通过CT图像生成内窥镜到达上颌窦目标位置的可行路径，并设计最优控制策略，使机器人自主沿路径移动。在常用鼻窦仿生模型上的多组实验表明，该系统能准确、自主地跟踪预定路径，抵达目标区域。结果验证了该框架的可行性，为未来鼻窦炎的早期诊断提供了一种有效技术路径。
原文摘要 · Abstract (English)
Flexible endoscopes are commonly adopted in narrow and confined anatomical cavities due to their higher reachability and dexterity. However, prolonged and unintuitive manipulation of these endoscopes leads to an increased workload on surgeons and risks of collision. To address these challenges, this paper proposes a CT-guided control framework for the diagnosis of maxillary sinusitis by using a robotic flexible endoscope. In the CT-guided control framework, a feasible path to the target position in the maxillary sinus cavity for the robotic flexible endoscope is designed. Besides, an optimal control scheme is proposed to autonomously control the robotic flexible endoscope to follow the feasible path. This greatly improves the efficiency and reduces the workload for surgeons. Several experiments were conducted based on a widely utilized sinus phantom, and the results showed that the robotic flexible endoscope can accurately and autonomously follow the feasible path and reach the target position in the maxillary sinus cavity. The results also verified the feasibility of the CT-guided control framework, which contributes an effective approach to early diagnosis of sinusitis in the future.
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