用磁控柔性内镜实现开放腔体内精准激光手术
Advancing Minimally Invasive Precision Surgery in Open Cavities with Robotic Flexible Endoscopy
- 磁驱动柔性内镜+主从操控与半自主导航结合
- 在绵羊模型中成功完成复杂胎儿激光凝固术
- 实时拼接视野扩大视觉范围，提升手术安全
柔性机器人有望通过更高的灵活性、精准控制和安全组织交互，提升微创手术（MIS）效果。然而，将其优势应用于开放腔体内的内窥镜操作仍面临挑战：缺乏解剖约束和设备固有的柔性使控制困难，同时内窥镜视野有限，影响术中感知。本文提出一种机器人平台，克服上述难题，并在通常仅由经验丰富的外科医生执行的胎儿内窥镜激光凝固术中展示其潜力。该系统融合磁驱动柔性内镜与远程操控及半自主导航能力，可实现靶向激光消融。为增强手术感知，平台实时重建内窥镜场景的全景拼图，提供扩展且连续的视觉上下文。该系统在绵羊活体模型中验证了其解决开放空间微创手术关键瓶颈的能力。
原文摘要 · Abstract (English)
Flexible robots hold great promise for enhancing minimally invasive surgery (MIS) by providing superior dexterity, precise control, and safe tissue interaction. Yet, translating these advantages into endoscopic interventions within open cavities remains challenging. The lack of anatomical constraints and the inherent flexibility of such devices complicate their control, while the limited field of view of endoscopes restricts situational awareness. We present a robotic platform designed to overcome these challenges and demonstrate its potential in fetoscopic laser coagulation, a complex MIS procedure typically performed only by highly experienced surgeons. Our system combines a magnetically actuated flexible endoscope with teleoperated and semi-autonomous navigation capabilities for performing targeted laser ablations. To enhance surgical awareness, the platform reconstructs real-time mosaics of the endoscopic scene, providing an extended and continuous visual context. The ability of this system to address the key limitations of MIS in open spaces is validated in vivo in an ovine model.
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