体内自主医疗针转向
Autonomous Medical Needle Steering In Vivo
摘要：
使用针进入器官内的部位对于许多用于诊断和治疗的介入医疗程序是基本的。由于组织中存在解剖障碍、高水平的不确定性和自然组织运动（例如，因为呼吸）。能够在体内自动化基于针的手术的医疗机器人有可能克服这些挑战，并提高患者护理和安全水平。在本文中，我们展示了第一个医疗机器人，自主导航针周围的解剖障碍的活组织内的组织内的目标。我们的系统利用瞄准装置和激光图案化的高度灵活的可操纵针，这种针能够沿着曲线轨迹操纵以避开障碍物。自主机器人通过重新规划和控制来解决活体组织/针相互作用中的解剖学障碍和不确定性，并通过在呼吸周期期间定义安全插入时间窗口来解决呼吸运动。我们将该系统应用于肺活检，这对肺癌的诊断至关重要，肺癌是美国癌症相关死亡的主要原因。我们证明了我们的系统在多个体内猪研究中的成功性能，并且还证明了我们利用自主针转向的方法优于用于肺结节进入的标准手动临床技术。
英文摘要：
The use of needles to access sites within organs is fundamental to many interventional medical procedures both for diagnosis and treatment. Safe and accurate navigation of a needle through living tissue to an intra-tissue target is currently often challenging or infeasible due to the presence of anatomical obstacles in the tissue, high levels of uncertainty, and natural tissue motion (e.g., due to breathing). Medical robots capable of automating needle-based procedures in vivo have the potential to overcome these challenges and enable an enhanced level of patient care and safety. In this paper, we show the first medical robot that autonomously navigates a needle inside living tissue around anatomical obstacles to an intra-tissue target. Our system leverages an aiming device and a laser-patterned highly flexible steerable needle, a type of needle capable of maneuvering along curvilinear trajectories to avoid obstacles. The autonomous robot accounts for anatomical obstacles and uncertainty in living tissue/needle interaction with replanning and control and accounts for respiratory motion by defining safe insertion time windows during the breathing cycle. We apply the system to lung biopsy, which is critical in the diagnosis of lung cancer, the leading cause of cancer-related death in the United States. We demonstrate successful performance of our system in multiple in vivo porcine studies and also demonstrate that our approach leveraging autonomous needle steering outperforms a standard manual clinical technique for lung nodule access.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
