Robotics & Its Engineering Research Center, Mechatronic engineering, Harbin University of Science and Technology, Harbin, China.
Comput Assist Surg (Abingdon). 2022 Dec;27(1):91-112. doi: 10.1080/24699322.2021.2023647.
In the field of minimally invasive interventional therapy, the related research on the soft tissue puncture robot and its technology based on the flexible steerable needle as a research hot topic at present, and it has been developed rapidly in the past ten years. In order to better understand the development status of the flexible steerable needle puncture (FSNP) robot and provide reference for its design and improvement in subsequent research, it is necessary to introduce in two aspects of FSNP robot: the puncture path planning and the control methods. First, this article introduced the concept of the FSNP technology, and the necessity of the application of FSNP soft tissue robot in minimally invasive interventional surgery. Second, this article mainly introduced the principle of FSNP, the path planning of FSNP, the navigation and positioning control of the needle tip of the flexible steerable needle, the control method of FSNP system, and the controllable flexible needle. Finally, combined with the above analysis and introduction, it was pointed out that FSNP soft tissue robot and its related technology would be an important development direction in the field of minimally invasive interventional therapy in the future, and the current existing problems were pointed out. Meanwhile, the development trend of FSNP robot control technology was summarized and prospected.
在微创介入治疗领域，基于柔性可控针的软组织穿刺机器人及其相关技术的研究是目前的一个研究热点，并在过去十年中得到了快速发展。为了更好地了解柔性可控针穿刺（FSNP）机器人的发展现状，为后续研究中的设计和改进提供参考，有必要从 FSNP 机器人的两个方面进行介绍：穿刺路径规划和控制方法。首先，本文介绍了 FSNP 技术的概念，以及 FSNP 软质组织机器人在微创介入手术中的应用的必要性。其次，本文主要介绍了 FSNP 的原理、FSNP 的路径规划、柔性可控针针尖的导航和定位控制、FSNP 系统的控制方法以及可控柔性针，最后，结合以上分析和介绍，指出 FSNP 软质组织机器人及其相关技术将是微创介入治疗领域未来的一个重要发展方向，并指出了当前存在的问题。同时，总结和展望了 FSNP 机器人控制技术的发展趋势。
