Pulmonary puncture surgery robot system and master-slave control study

Traditional lung puncture surgery requires a very high level of experience and operational proficiency from the surgeon, and a slight inadvertence during the procedure can cause irreversible damage to the patient's lungs. At the same time, long-term exposure to X-ray radiation in the surgical CT room can cause significant radiation dose overload injuries to the surgeon. To address the above problems, this paper designs a novel robotic system for lung puncture surgery and investigates it for master-slave control. First, a mechanism that can deliver multiple medical devices simultaneously is proposed to enable rotation, delivery, clamping, and bending control of the medical devices; second, a method to manipulate the surgical robot using a touch panel is proposed; and finally, a combination of convolutional neural network and image processing is used to assist in controlling the automatic rotation of the endoscope to reduce the complexity of the surgery. The final animal experiment of the paper verifies the feasibility of the robot.