用于脑室内活检的混合双段柔性神经外科机器人设计与视觉伺服控制
Design and Visual Servoing Control of a Hybrid Dual-Segment Flexible Neurosurgical Robot for Intraventricular Biopsy
AI总结：
针对传统刚性内窥镜在脑深部手术中的局限性，提出双段柔性机器人MicroNeuro，结合在线Jacobian估计的视觉伺服与带约束的模型预测控制，显著提升了运动精度与稳定性，在神经外科活检中展现巨大潜力。
摘要：
传统刚性内窥镜在灵活治疗位于大脑深处的肿瘤方面面临挑战，且低可操作性和固定视角限制了其发展。本研究提出了一种新型双段柔性机器人内窥镜MicroNeuro，旨在通过灵巧的手术操作对大脑深处进行活检。考虑到控制模型的不确定性，实现了基于图像的视觉伺服与在线机器人Jacobian估计，以提高运动精度。此外，应用带约束的模型预测控制显著增强了柔性机器人自适应跟踪移动目标和抵抗外部干扰的能力。实验结果强调，所提出的控制系统提高了运动稳定性和精度。幻影测试证实了其在神经外科部署的巨大潜力。
英文摘要：
Traditional rigid endoscopes have challenges in flexibly treating tumors located deep in the brain, and low operability and fixed viewing angles limit its development. This study introduces a novel dual-segment flexible robotic endoscope MicroNeuro, designed to perform biopsies with dexterous surgical manipulation deep in the brain. Taking into account the uncertainty of the control model, an image-based visual servoing with online robot Jacobian estimation has been implemented to enhance motion accuracy. Furthermore, the application of model predictive control with constraints significantly bolsters the flexible robot's ability to adaptively track mobile objects and resist external interference. Experimental results underscore that the proposed control system enhances motion stability and precision. Phantom testing substantiates its considerable potential for deployment in neurosurgery.
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