Flexible Biopsy Robot with Force Sensing for Deep Lung Examination
Lung disease has become a leading cause of disease‐related death, making it one of the most serious health problems in the world. Due to the advantages of fast postoperative recovery and small trauma, transbronchoscopic biopsy has become the main method for the diagnosis of lung diseases. However, l...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2024-02-01
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| Series: | Advanced Intelligent Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1002/aisy.202300107 |
| _version_ | 1797302313173385216 |
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| author | Jingyu Zhang Qin Fang Pingyu Xiang Lilu Liu Rong Xiong Yue Wang Haojian Lu |
| author_facet | Jingyu Zhang Qin Fang Pingyu Xiang Lilu Liu Rong Xiong Yue Wang Haojian Lu |
| author_sort | Jingyu Zhang |
| collection | DOAJ |
| description | Lung disease has become a leading cause of disease‐related death, making it one of the most serious health problems in the world. Due to the advantages of fast postoperative recovery and small trauma, transbronchoscopic biopsy has become the main method for the diagnosis of lung diseases. However, limited by the large outer diameter of the bronchoscope, insufficient flexibility of the biopsy needle, and lack of force sensing, traditional biopsy operation is simple and rough, and it is difficult to enter the deep narrow areas of the lung for examination. In this article, a flexible biopsy robot with force‐sensing ability is proposed. The robot is composed of a tendon‐actuated catheter and an inner sliding flexible needle as well as their driving systems. The experimental results demonstrate that the robot has good positioning accuracy of 0.72 mm and high flexibility and repeatability. With the cooperation of the commercial bronchoscope, the robot can reach various narrow areas of the lung to perform biopsy operations. The proposed robot has the potential to improve the diagnosis rate of lung diseases and reduce related deaths. |
| first_indexed | 2024-03-07T23:35:00Z |
| format | Article |
| id | doaj.art-ee5f1fee958b45c48567e0a0ee607d07 |
| institution | Directory Open Access Journal |
| issn | 2640-4567 |
| language | English |
| last_indexed | 2024-03-07T23:35:00Z |
| publishDate | 2024-02-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Intelligent Systems |
| spelling | doaj.art-ee5f1fee958b45c48567e0a0ee607d072024-02-20T08:47:55ZengWileyAdvanced Intelligent Systems2640-45672024-02-0162n/an/a10.1002/aisy.202300107Flexible Biopsy Robot with Force Sensing for Deep Lung ExaminationJingyu Zhang0Qin Fang1Pingyu Xiang2Lilu Liu3Rong Xiong4Yue Wang5Haojian Lu6The State Key Laboratory of Industrial Control and Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 ChinaThe State Key Laboratory of Industrial Control and Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 ChinaThe State Key Laboratory of Industrial Control and Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 ChinaThe State Key Laboratory of Industrial Control and Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 ChinaThe State Key Laboratory of Industrial Control and Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 ChinaThe State Key Laboratory of Industrial Control and Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 ChinaThe State Key Laboratory of Industrial Control and Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 ChinaLung disease has become a leading cause of disease‐related death, making it one of the most serious health problems in the world. Due to the advantages of fast postoperative recovery and small trauma, transbronchoscopic biopsy has become the main method for the diagnosis of lung diseases. However, limited by the large outer diameter of the bronchoscope, insufficient flexibility of the biopsy needle, and lack of force sensing, traditional biopsy operation is simple and rough, and it is difficult to enter the deep narrow areas of the lung for examination. In this article, a flexible biopsy robot with force‐sensing ability is proposed. The robot is composed of a tendon‐actuated catheter and an inner sliding flexible needle as well as their driving systems. The experimental results demonstrate that the robot has good positioning accuracy of 0.72 mm and high flexibility and repeatability. With the cooperation of the commercial bronchoscope, the robot can reach various narrow areas of the lung to perform biopsy operations. The proposed robot has the potential to improve the diagnosis rate of lung diseases and reduce related deaths.https://doi.org/10.1002/aisy.202300107flexible biopsy robotforce sensinglung examinationmicro/nanorobotssmall-scale continuum robot |
| spellingShingle | Jingyu Zhang Qin Fang Pingyu Xiang Lilu Liu Rong Xiong Yue Wang Haojian Lu Flexible Biopsy Robot with Force Sensing for Deep Lung Examination Advanced Intelligent Systems flexible biopsy robot force sensing lung examination micro/nanorobots small-scale continuum robot |
| title | Flexible Biopsy Robot with Force Sensing for Deep Lung Examination |
| title_full | Flexible Biopsy Robot with Force Sensing for Deep Lung Examination |
| title_fullStr | Flexible Biopsy Robot with Force Sensing for Deep Lung Examination |
| title_full_unstemmed | Flexible Biopsy Robot with Force Sensing for Deep Lung Examination |
| title_short | Flexible Biopsy Robot with Force Sensing for Deep Lung Examination |
| title_sort | flexible biopsy robot with force sensing for deep lung examination |
| topic | flexible biopsy robot force sensing lung examination micro/nanorobots small-scale continuum robot |
| url | https://doi.org/10.1002/aisy.202300107 |
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