MagRobot: 一种用于磁导航机器人的开放仿真器
MagRobot:An Open Simulator for Magnetically Navigated Robots
AI总结：
MagRobot是一个开源仿真平台，用于磁导航机器人的研究、设计和评估，支持多种医疗应用的模拟与优化。
摘要：
磁导航系统，包括磁追踪系统和磁驱动系统，在微创医学中展现了无遮挡定位和远程控制内窥镜和机器人设备的巨大潜力，例如胶囊内窥镜和心血管介入。然而，磁导航机器人的设计仍然严重依赖于实验原型设计，这既耗时又昂贵。此外，缺乏一个一致的实验环境来比较和评估不同磁导航系统的硬件和算法。为了解决这些挑战，我们提出了第一个通用的开源仿真平台，以促进磁导航机器人研究、设计和评估。我们的仿真器具有直观的图形用户界面，使用户能够高效地设计、可视化和分析磁导航系统，适用于刚性和软体机器人。该仿真器具有多功能性，可以模拟磁驱动和磁追踪任务在多种涉及变形解剖结构的医疗应用中的情况。该仿真器提供了一个开放的开发环境，用户可以加载第三方解剖模型并自定义磁导航系统的硬件和算法。仿真器的保真度通过使用磁导航连续机器人和胶囊机器人在不同磁驱动设置下的假体和离体实验进行验证。三个仿真器的使用案例，即支气管镜检查、血管内介入和胃肠道内窥镜检查，被实施以展示仿真器的功能。研究表明，磁导航系统的配置和算法可以使用仿真器灵活设计和优化以获得更好的性能。
英文摘要：
Magnetic navigation systems, including magnetic tracking systems and magnetic actuation systems, have shown great potential for occlusion-free localization and remote control of intracorporeal medical devices and robots in minimally invasive medicine, such as capsule endoscopy and cardiovascular intervention. However, the design of magnetically navigated robots remains heavily reliant on experimental prototyping, which is time-consuming and costly. Furthermore, there is a lack of a consistent experimental environment to compare and benchmark the hardware and algorithms across different magnetic navigation systems. To address these challenges, we propose the first universal open-source simulation platform to facilitate research, design and benchmarking of magnetically navigated robots. Our simulator features an intuitive graphical user interface that enables the user to efficiently design, visualize, and analyze magnetic navigation systems for both rigid and soft robots. The proposed simulator is versatile, which can simulate both magnetic actuation and magnetic tracking tasks in diverse medical applications that involve deformable anatomies. The proposed simulator provides an open development environment, where the user can load third-party anatomical models and customize both hardware and algorithms of magnetic navigation systems. The fidelity of the simulator is validated using both phantom and ex vivo experiments of magnetic navigation of a continuum robot and a capsule robot with diverse magnetic actuation setups. Three use cases of the simulator, i.e., bronchoscopy, endovascular intervention, and gastrointestinal endoscopy, are implemented to demonstrate the functionality of the simulator. It is shown that the configuration and algorithms of magnetic navigation systems can be flexibly designed and optimized for better performance using the simulator.
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