开发可兼容光纤的微型机器人穿刺平台，提升活检精准度与诊断效率。
Needle Biopsy And Fiber-Optic Compatible Robotic Insertion Platform
- 设计可灵活操控多种工具的微型机器人平台，支持针头与光纤协同操作。
- 定位精度达亚毫米级，插入成功率超过95%，满足临床需求。
- 适合微创手术与多模态诊断场景，助力精准医疗发展。
组织活检是诊断多种疾病的标准方法，通过提取病变组织进行病理分析。然而该过程存在两大局限：一是手动取样易出错；二是病理检测耗时长。为此，本文提出一种紧凑、高精度且可灵活操控的机器人穿刺平台，克服传统活检的不足。该平台能引导多种尺寸工具，包括用于组织取样的穿刺针和用于振动光谱分析的光纤。系统可辅助医生精准导航至目标区域，实现多模态诊断。本文阐述了设备总体概念，并详细描述其机械结构与控制策略。最后通过一系列测试验证系统性能，包括定位精度、阻抗响应能力及工具插入有效性，结果表明系统具备优异的稳定性和实用性。
原文摘要 · Abstract (English)
Tissue biopsy is the gold standard for diagnosing many diseases, involving the extraction of diseased tissue for histopathology analysis by expert pathologists. However, this procedure has two main limitations: 1) Manual sampling through tissue biopsy is prone to inaccuracies; 2) The extraction process is followed by a time-consuming pathology test. To address these limitations, we present a compact, accurate, and maneuverable robotic insertion platform to overcome the limitations in traditional histopathology. Our platform is capable of steering a variety of tools with different sizes, including needle for tissue extraction and optical fibers for vibrational spectroscopy applications. This system facilitates the guidance of end-effector to the tissue and assists surgeons in navigating to the biopsy target area for multi-modal diagnosis. In this paper, we outline the general concept of our device, followed by a detailed description of its mechanical design and control scheme. We conclude with the validation of the system through a series of tests, including positioning accuracy, admittance performance, and tool insertion efficacy.
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