| 引用本文: | 付宜利,潘博.微创外科手术机器人技术研究进展[J].哈尔滨工业大学学报,2019,51(1):1.DOI:10.11918/j.issn.0367-6234.201806178 |
| FU Yili,PAN Bo.Research progress of surgical robot for minimally invasive surgery[J].Journal of Harbin Institute of Technology,2019,51(1):1.DOI:10.11918/j.issn.0367-6234.201806178 |
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| 摘要: |
| 为实现外科手术的微创化、精确化、智能化、远程化,将机器人技术与微创外科手术相结合,在综述国内外微创外科手术机器人研究现状的基础上,重点论述和分析从操作手设计、控制结构与控制方法,对力反馈主手、手术器械及力感知、增强现实、半自主手术、手术训练系统等关键技术进行了介绍和分析. 基于上述技术研发的微创外科手术机器人改善了医生进行微创手术的环境和工具,提高了外科手术的质量,具有广泛的应用和发展前景. 对微创外科手术机器人技术的发展趋势进行了展望. |
| 关键词: 机器人 微创外科手术 主从控制 远心运动 力反馈 |
| DOI：10.11918/j.issn.0367-6234.201806178 |
| 分类号:TP242 |
| 文献标识码:A |
| 基金项目:国家自然科学基金(61305139)； 国家高技术研究发展计划(2012AA041601) |
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| Research progress of surgical robot for minimally invasive surgery |
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FU Yili,PAN Bo
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(State Key Laboratory of Robotics and Systems (Harbin Institute of Technology), Harbin 150001, China)
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| Abstract: |
| To achieve the invasion, precision, intelligentization and remote manipulation of the surgery, the minimally invasive surgical robot developed by combining robotics with minimally invasive surgery (MIS) improves the environment and tools for MIS, and enhances the performance of the surgery, which has comprehensive application and development prospects. Based on the review of the research status of minimally invasive surgical robot, a variety of key technologies such as design of slave robotic arms, control structures and methods, haptic master hands, surgical instruments and force perceptive devices are discussed and analyzed, and then the augmented reality, semi-automatic surgery, surgical training system and the trend of minimally invasive surgical robotic technologies are presented. |
| Key words: robot minimally invasive surgery master-slave control remote center motion haptics |
