The international journal of medical robotics + computer assisted surgery : MRCAS · 2026
Dual-Modal Safety Framework for Robotic-Assisted Bronchoscopy via Endoscopic Vision and Haptic Feedback.
СтатьяНазвание и аннотация: Перевод пока не подготовлен
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Fan Bodong, Xie Luhao, Zhu Lifeng, Jin Xiaoliang, Lu Jian, Teng Gaojun, Song Aiguo
Аннотация
BACKGROUND: Teleoperated flexible bronchoscopy lacks distal haptic feedback, increasing the risk of unobservable iatrogenic tissue trauma during endoluminal exploration.
METHODS: This study proposes a robot-assisted bronchoscopy system integrated with a dual-modal safety framework. A visual module utilises image moments to provide predictive alerts for collision avoidance. Concurrently, a Transformer-based network estimates distal interaction torques from proximal actuation, enabling real-time haptic perception at the leader console.
RESULTS: Phantom validations across fragile tissue rupture, sidewall approximation, and luminal exploration tasks demonstrated the framework's efficacy. The visual warnings helped decrease excessive force contacts, while the learning-based estimator delivered reliable distal force perception.
CONCLUSIONS: The proposed dual-modal teleoperated safety architecture resolves the trade-off between operational dexterity and safety in flexible bronchoscopy. By integrating predictive visual warnings and real-time haptic feedback, the system improves the operator's situational awareness, decreasing the risk of iatrogenic trauma during the operation.
METHODS: This study proposes a robot-assisted bronchoscopy system integrated with a dual-modal safety framework. A visual module utilises image moments to provide predictive alerts for collision avoidance. Concurrently, a Transformer-based network estimates distal interaction torques from proximal actuation, enabling real-time haptic perception at the leader console.
RESULTS: Phantom validations across fragile tissue rupture, sidewall approximation, and luminal exploration tasks demonstrated the framework's efficacy. The visual warnings helped decrease excessive force contacts, while the learning-based estimator delivered reliable distal force perception.
CONCLUSIONS: The proposed dual-modal teleoperated safety architecture resolves the trade-off between operational dexterity and safety in flexible bronchoscopy. By integrating predictive visual warnings and real-time haptic feedback, the system improves the operator's situational awareness, decreasing the risk of iatrogenic trauma during the operation.