机器人在微创外科手术中的应用

背景：微创外科手术机器人具有稳定性好、操作灵活、运动精准、手眼协调等特点，是微创手术未来发展的方向。 目的：分析微创外科手术机器人的现状，探讨微创外科手术机器人的关键技术。 方法：分别从体外手术机器人与体内手术机器人等方面，详细分析和介绍了国内外近年来的主要研究成果，并对微创外科手术机器人的力反馈、主从控制策略等关键技术进行了探讨。 结果与结论：综合国内外微创外科机器人的研究情况来看，微型体内手术机器人是手术机器人领域的研究热点，特别是微型机器人的灵巧性设计、手术机器人的定位、运动规划与控制、操作力的实时测量与力反馈等关键技术。主从操控技术是手术机器人进行遥操作和微操作的关键环节。

Research on minimally invasive robotic surgery

BACKGROUND: With the rapid development of robotics technology, minimally invasive robotic surgery (MIRS) has been investigated in various surgical procedures due to its high accuracy, fine manipulation capability, good repeatability, high reliability, lack of fatigue, tele-operation. OBJECTIVE: To analyze the status of MIRS, and to study the key technology of MIRS. METHODS: According to the characteristics and clinical application of MIRS, from in vitro and robotic surgery, some key technologies are discussed in detail. RESULTS AND CONCLUSION: Haptic (mainly force) feedback plays a significant role in MIRS. The proposed key technologies could be used to tele-robotic system and clinical application.