借助机器人柔性内窥镜推进开放体腔中的微创精准手术
Advancing Minimally Invasive Precision Surgery in Large Open Cavities with Robotic Flexible Endoscopy
AI总结：
针对开放体腔微创手术中柔性器械控制难、内窥镜视野有限的问题，提出融合磁驱动柔性内窥镜、遥操作/半自主导航及实时场景拼接的机器人平台，经绵羊体内实验验证可有效提升手术精准性与感知能力。
摘要：
柔性机器人凭借出色的灵巧性、精准的控制能力和安全的组织交互特性，在提升微创手术（MIS）效果方面极具前景。然而，将这些优势转化为开放体腔内的内窥镜干预手段仍面临挑战：缺乏解剖学约束加上这类设备固有的柔性，使其控制变得复杂，同时内窥镜有限的视野也限制了态势感知能力。我们提出了一款旨在克服这些挑战的机器人平台，并在胎儿镜激光凝固术（一种通常仅由经验丰富的外科医生操作的复杂微创手术）中验证了其潜力。我们的系统将磁驱动柔性内窥镜与遥操作及半自主导航功能相结合，可执行靶向激光消融。为增强手术感知能力，该平台可实时重建内窥镜场景的拼接图像，提供扩展且连续的视觉上下文。该系统解决开放空间中微创手术关键局限的能力已在绵羊模型体内实验中得到验证。
英文摘要：
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 large open cavities remains challenging. The lack of anatomical constraints and the inherent flexibility of such devices complicate their control, and 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.
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。
