J Shanghai Jiaotong Univ Sci

Journal of Shanghai Jiaotong University(Science) >

2026 , Vol. 31 >Issue 1: 1 - 11

DOI: https://doi.org/10.1007/s12204-025-2846-0

Intelligent Robots

Development of Surgical Robot for CT-Guided Lung Biopsy

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  • 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

Received date: 2024-12-16

  Revised date: 2025-01-27

  Accepted date: 2025-02-10

  Online 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.

Cite this article

Zhang Han, Zhang Guoliang, Feng Shengjie, Li Qingyun, Qu Jieming, Xie Le . Development of Surgical Robot for CT-Guided Lung Biopsy[J]. Journal of Shanghai Jiaotong University(Science), 2026 , 31(1) : 1 -11 . DOI: 10.1007/s12204-025-2846-0

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