Abstract
Minimally invasive puncture surgery is widely used for tissue sampling, ablation, and drug delivery, but its success relies heavily on the surgeon’s experience. To address this, we present a remote surgical robot system utilizing virtual navigation for precise puncture procedures during lung surgeries. First, we developed a master-slave control system based on low CT artifacts and wearable positioning-assisted robot, providing safe and reliable guidance for lung puncture surgery. Second, a virtual navigation system, integrated with the needle-tissue interaction model, was developed to provide surgeons with visual guidance and tissue deformation compensation for assisting in puncture trajectory planning. Third, a registration method was introduced for swift calibration between the virtual and physical worlds. Ex vivo porcine lung puncture experiments were conducted to validate the accuracy and feasibility of the system. The results of 70 porcine lung punctures experiments demonstrated an average system positioning accuracy of 2.3 mm with a deviation of 1.4 mm, meeting clinical requirements. The experimental results demonstrate feasibility of the system in lung puncture surgery.
