A Soft Robot for Peripheral Lung Cancer Diagnosis and Therapy

工作区 医学 计算机视觉 机器人 肺癌 计算机科学 人工智能 生物医学工程 模拟 病理
作者
Max McCandless,Alexander Perry,Nicholas M. DiFilippo,Ashlyn Carroll,Ehab Billatos,Sheila Russo
出处
期刊:Soft robotics [Mary Ann Liebert, Inc.]
卷期号:9 (4): 754-766 被引量:13
标识
DOI:10.1089/soro.2020.0127
摘要

Lung cancer is one of the deadliest forms of cancers and is often diagnosed by performing biopsies with the use of a bronchoscope. However, this diagnostic procedure is limited in ability to explore deep into the periphery of the lung where cancer can remain undetected. In this study, we present design, modeling, fabrication, and testing of a one degree of freedom soft robot with integrated diagnostic and interventional capabilities as well as vision sensing. The robot can be deployed through the working channel of commercial bronchoscopes or used as a stand-alone system as it integrates a micro camera to provide vision sensing and controls to the periphery of the lung. The small diameter (2.4 mm) of the device allows navigation in branches deeper in the lung, where current devices have limited reachability. We have performed mechanical characterizations of the robotic platform, including blocked force, maximum bending angle, maximum angular velocity, and workspace, and assessed its performance in in vitro and ex vivo experiments. We have developed a computer vision algorithm, and validated it in in vitro conditions, to autonomously align the robot to a selected branch of the lung and aid the clinician (by means of a graphical user interface) during navigation tasks and to perform robot-assisted stabilization in front of a lesion, with automated tracking and alignment.
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