机器人外科学杂志（中英文）2025，Vol.6Issue(10)：1783-1789,7.DOI:10.12180/j.issn.2096-7721.2025.10.029
一种远程控制经皮肾镜穿刺机器人系统及末端效应器研究
Research on a remotely-operated robotic system for percutaneous nephrolithotomy puncture and its end-effector
摘要
Abstract
Objective:To study a percutaneous nephrolithotomy puncture robotic system and its end-effector,enabling physicians to perform traditional percutaneous nephrolithotomy puncture operations requiring X-ray positioning without exposure to X-ray radiation.Methods:A remotely controlled 3-axis industrial robot was used as the main body of the percutaneous nephrolithotomy puncture robot.Applying bionic principles,a 3D printing technique was employed to manufacture an end-effector capable of omnidirectional movement,simultaneously advancing the puncture needle and injecting contrast agent.Experiments were conducted using a percutaneous renal puncture model under X-ray guidance to compare differences in success rate and average operation time for experienced and inexperienced physicians performing 50 operations each(limited to 10 minutes per puncture),while recording the effectiveness of the puncture needle depth limiter.Results:After system development,test results showed that experienced physicians completed 50 simulated renal punctures using the remote control system with 8 successes in the first 10 attempts and 39 successes in the subsequent 40 attempts;inexperienced physicians achieved 1 successes in the first 10 attempts and 38 successes in the subsequent 40 attempts.In the total 100 punctures,no cases of excessive depth occurred,and the robot end-effector did not interfere with X-ray imaging.Conclusion:The remotely controlled percutaneous nephrolithotomy puncture robotic system and end-effector developed in this study can perform puncture operations under X-ray positioning,supporting physicians in remote control from a radiation-safe zone and effectively preventing excessive puncture depth.After 50 cases of training,physicians with or without puncture experience can master this technique,which has the potential for further research toward becoming a practical medical device.关键词
远程控制穿刺机器人/经皮肾镜取石术/末端效应器/X线辐射防护/3D打印技术/机器人辅助穿刺手术/穿刺深度限位器Key words
Remotely Controlled Puncture Robot/Percutaneous Nephrolithotomy/End Effector/X-ray Radiation Protection/3D Printing Technology/Robot-assisted Puncture/Puncture Depth Limiter分类
临床医学引用本文复制引用
李钢,张扬,毛静,任翔,丁伟..一种远程控制经皮肾镜穿刺机器人系统及末端效应器研究[J].机器人外科学杂志（中英文）,2025,6(10):1783-1789,7.基金项目
2016年度绵竹市科技计划项目Mianzhu Municipal Science and Technology Plan Project in 2016 （）
