交互式微创手术机器人系统研究进展

微创手术相对于传统的开刀手术,创口面积较小,可以很大程度减小对人体的伤害,提高医疗器械的利用率.然而,微创手术也存在灵活性和操作特性受限等缺点.交互式微创手术机器人系统不仅改善了微创手术的稳定性、安全性和准确性,还在控制手术机器人时引进了力反馈,是微创手术领域新的发展方向.本文综述了交互式微创手术机器人系统的发展现状和实现人机交互的关键技术,最后对其发展做出展望和总结.

Advances in interactive robotic system for minimally invasive surgery

Compared to traditional approaches,minimally invasive surgery （MIS） has the benefits of minimizing the number and size of visible skin incisions,thus reducing postoperative pain,and improving the cost-effectiveness of medical instruments.However,there are still significant drawbacks associated with conventional MIS including limited dexterity and poor instrument control.Dexterity,manipulability,as well as stability and motion accuracy of MIS are improved by using interactive robotic surgical platform.Moreover,the platform introduces force feedback which is the prospect in MIS.The development and key technologies of the interactive robotic system for minimally invasive surgery are reviewed in this paper,with prospects and summary.