Transbronchial lung biopsy is an effective and less-invasive treatment for the early diagnosis of lung cancer. However, the limited dexterity of existing endoscopic instruments and the complexity of bronchial access prevent the application of such procedures mainly for biopsy and diagnosis. This paper proposes a flexible robot for transbronchial lung biopsy with a cable-driven mechanism-based flexible manipulator. The robotic system of transbronchial lung biopsy is presented in detail, including the snake-bone end effector, the flexible catheters and the actuation unit. The kinematic analysis of the snake-bone end effector is conducted for the master-slave control. The experimental results show that the end effector reaches the target nodule through a narrow and tortuous pathway in a bronchial model. In conclusion, the proposed robotic system contributes to the field of advanced endoscopic surgery with high flexibility and controllability.

经支气管肺活检是一种有效且微创的肺癌早期诊断方法。然而，现有内窥镜仪器的灵活性有限和支气管通路的复杂性阻碍了此类程序主要用于活组织检查和诊断的应用。本文提出了一种用于经支气管肺活检的柔性机器人，该机器人具有基于电缆驱动机构的柔性机械手。详细介绍了经支气管肺活检的机器人系统，包括蛇骨末端执行器、柔性导管和驱动单元。针对主从控制对蛇骨末端执行器进行运动学分析。实验结果表明，末端执行器在支气管模型中通过狭窄曲折的通路到达目标结节。综上所述，