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<p>Traditional lung biopsy procedures are complicated and time-consuming due to the lack of real-time imaging guidance, requiring physicians to frequently move between the operating room and computerized tomography (CT) imaging equipment. Robotics has been widely applied in medical surgeries, yet meeting the requirements for lung biopsy procedures with assured accuracy and safety remains a topic of research. This paper introduces a surgical robot for CT-guided lung biopsy. A kinematic analysis of the robot mechanism is conducted, and a master-slave control system tailored for this robot is developed. A force feedback algorithm is proposed to ensure the reliability and realism of the surgical process. Finally, the system’s feasibility is verified by the mechanism positioning accuracy experiment and the targeting accuracy experiment, and in vivo animal experiment is conducted to lay the foundation for clinical application.</p>

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Development of Surgical Robot for CT-Guided Lung Biopsy

  • 期刊论文

  • 发表日期：

    2025年9月4日

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  • Han Zhang,
  • Guoliang Zhang,
  • Shengjie Feng,
  • Qingyun Li,
  • Jieming Qu,
  • Le Xie

摘要

Traditional lung biopsy procedures are complicated and time-consuming due to the lack of real-time imaging guidance, requiring physicians to frequently move between the operating room and computerized tomography (CT) imaging equipment. Robotics has been widely applied in medical surgeries, yet meeting the requirements for lung biopsy procedures with assured accuracy and safety remains a topic of research. This paper introduces a surgical robot for CT-guided lung biopsy. A kinematic analysis of the robot mechanism is conducted, and a master-slave control system tailored for this robot is developed. A force feedback algorithm is proposed to ensure the reliability and realism of the surgical process. Finally, the system’s feasibility is verified by the mechanism positioning accuracy experiment and the targeting accuracy experiment, and in vivo animal experiment is conducted to lay the foundation for clinical application.