医用机器人与计算机辅助手术MRCAS进展

Progresses of Medical Robotics and Computer Assisted Surgery(MRCAS)

综述了医用机器人与计算机辅助手术(MRCAS)技术在计算机辅助手术、医用机器人和遥操作手术三个方面的发展历程。首先,根据图像模式的不同,总结了计算机辅助手术在CT/MRI导航、透视导航、无图像导航以及其他一些导航手术中的研究进展。然后,按照医用机器人的发展历史,阐述了基于工业机器人平台的外科机器人、专用外科机器人和小型模块化机器人三个发展阶段。接着,根据临床应用特点,介绍了遥操作手术在本地遥外科和远程遥外科中的应用。最后,讨论了MRCAS的未来发展趋势。

In this paper, the research and application of medical robotics and computer assisted surgery （MRCAS） was reviewed in terms of computer assisted surgery, medical robotics and tele-surgery. Firstly according to the modalities of medical imaging, the computer assisted surgery was explained from aspects of the CT/MRI-based navigation, the fluoroscopy-based navigation, the image-free navigation and some other navigation modes. Secondly according to the development history of medical robotics, three stages were introduced in sequences of the industrial platform-based medical robot, the customized medical robot and the miniature/compact modularized medical robot. Then the application of tele-operation techniques in surgery was shown in terms of local tele-surgery and remote telesurgery. At last the future of MRCAS was discussed.