APL Bioengineering (Jun 2024)

Review of robotic systems for thoracoabdominal puncture interventional surgery

  • Cheng Wang,
  • Li Guo,
  • Jianjun Zhu,
  • Lifeng Zhu,
  • Chichi Li,
  • Haidong Zhu,
  • Aiguo Song,
  • Ligong Lu,
  • Gao-Jun Teng,
  • Nassir Navab,
  • Zhongliang Jiang

DOI
https://doi.org/10.1063/5.0180494
Journal volume & issue
Vol. 8, no. 2
pp. 021501 – 021501-15

Abstract

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Cancer, with high morbidity and high mortality, is one of the major burdens threatening human health globally. Intervention procedures via percutaneous puncture have been widely used by physicians due to its minimally invasive surgical approach. However, traditional manual puncture intervention depends on personal experience and faces challenges in terms of precisely puncture, learning-curve, safety and efficacy. The development of puncture interventional surgery robotic (PISR) systems could alleviate the aforementioned problems to a certain extent. This paper attempts to review the current status and prospective of PISR systems for thoracic and abdominal application. In this review, the key technologies related to the robotics, including spatial registration, positioning navigation, puncture guidance feedback, respiratory motion compensation, and motion control, are discussed in detail.