J Shanghai Jiaotong Univ Sci

J Shanghai Jiaotong Univ Sci ›› 2026, Vol. 31 ›› Issue (1): 1-11.doi: 10.1007/s12204-025-2846-0

• Intelligent Robots • Previous Articles     Next Articles

Development of Surgical Robot for CT-Guided Lung Biopsy

CT引导下肺活检手术机器人研发

张涵1，张国良3,4,5，冯圣洁1，李庆云3,4,5，瞿介明3,4,5，谢叻1,2   

  1. 1. Institute of Forming Technology and Equipment, School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai 20030, China; 2. Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200030, China; 3. Department of Pulmonary and Critical Care Medicine, Ruijin Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai 200025, China; 4. Institute of Respiratory Diseases, Shanghai Jiao Tong University School of Medicine, Shanghai 200025, China; 5. Shanghai Key Laboratory of Emergency Prevention, Diagnosis and Treatment of Respiratory Infectious Diseases, Shanghai 200025, China
  2. 1. 上海交通大学 材料科学与工程学院 塑性成形技术与装备研究院，上海 200030；2. 上海交通大学 医疗机器人研究院，上海 200030；3. 上海交通大学医学院附属瑞金医院 呼吸与危重症医学科，上海 200025；4. 上海交通大学医学院 呼吸病研究所，上海 200025；5. 上海市呼吸传染病应急防控与诊治重点实验室，上海 200025
  • Received:2024-12-16 Revised:2025-01-27 Accepted:2025-02-10 Online:2026-02-28 Published:2025-09-04

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Abstract: Traditional lung biopsy procedures are complicated and time-consuming due to the lack of realtime 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.

Key words: robot-assisted surgery, master-slave control, kinematics model, force feedback

摘要： 传统的肺活检手术因缺乏实时影像引导，操作复杂且耗时，要求医生在手术室与CT影像设备之间频繁移动。机器人技术已在医疗手术中得到广泛应用；然而，如何以可靠的精度和安全性满足肺活检手术的要求，仍是一个研究课题。本文介绍了一种用于CT引导下肺活检的手术机器人。文中对该机器人机构进行了运动学分析，并为其开发了一套定制的主从控制系统。为确保手术过程的可靠性与真实感，提出了一种力反馈算法。最后，通过机构定位精度实验、靶点定位精度实验验证了系统的可行性，并开展了活体动物实验，为临床应用奠定了基础。

关键词: 机器人辅助手术，主从控制，运动学模型，力反馈

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