机器人辅助腔内手术中软工具的配准、路径规划和形状重建综述

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-04-16 DOI:10.1002/rcs.70066

Chongan Zhang, Xiaoyue Liu, Zuoming Fu, Guoqing Ding, Liping Qin, Peng Wang, Hong Zhang, Xuesong Ye

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引用次数: 0

摘要

机器人和导航系统可以减轻传统腔内手术中外科医生在弯曲腔内进行精细和安全操作的困难。本文旨在回顾这些系统的三个关键组成部分：配准、路径规划和形状重建，并强调它们的局限性和未来的展望。方法电子检索Web of Science和谷歌学者数据库至2024年的相关研究。结果对于IP的2D-3D配准，我们重点分析了特征提取。对于路径规划，本文提出了一种新的分类方法，重点关注规划空间的选择和路径成本的建立。在形状重建方面，分析了现有方法的优缺点，重点介绍了基于光纤传感器和电磁跟踪的形状重建方法。这三种技术在IP领域取得了很大的进步，但仍存在需要进一步研究的挑战。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Registration, Path Planning and Shape Reconstruction for Soft Tools in Robot-Assisted Intraluminal Procedures: A Review

Background

Robot and navigation systems can relieve surgeon's difficulties in delicate and safe operation in tortuous lumens in traditional intraluminal procedures (IP). This paper aims to review the three key components of these systems: registration, path planning and shape reconstruction and highlight their limitations and future perspectives.

Methods

An electronic search for relevant studies was performed in Web of Science and Google scholar databases until 2024.

Results

As for 2D–3D registration in IP, we focused on analysing feature extraction. For path planning, this paper proposed a new classification method and focused on selection of planning space and the establishment of path cost. Regarding shape reconstruction, the pros and cons of existing methods are analysed and methods based on fibre optic sensors and electromagnetic (EM) tracking are focused on.

Conclusion

These three technologies in IP have made great progress, but there are still challenges that require further research.

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.