连续体手术机器人感知与路径规划技术分析

Analysis of Peripheral Surgical Robot Perception and Path Planning Technology

文章讲述了连续体手术机器人的研究现状,以及它潜在对于未来研究工作进行和应用领域进行探讨与展望。在现代社会,传统的刚性机器人已经广泛的应用于社会生活的各种领域中,但是由于这种刚性机器人使用条件有限,其缺乏柔顺性,所以并不适合工作于高约束和非结构化的环境中,特别是在医疗领域,这种需要高精准度的工作。而连续体手术机器人作为一种灵活性与柔顺性都非常高的新型仿生机器人,与传统刚性机器人相比,连续型机器人通过模仿象鼻、章鱼触手等生物器官的这种独特的“无脊椎”结构,具有更高的安全性与灵活性,它能够柔顺地通过改变自己本身形状以适应各种不同的环境,在这种对精准度要求比较高的工作中具有其独特的优势。

This paper describes the research status of continuum surgery robots,and its potential for future research work and application areas to explore and prospect.In modern society,traditional rigid robots have been widely used in various fields of social life,but because of their limited use conditions and their lack of flexibility,they are not suitable for working in high-constrained and unstructured environments.This requires high-precision work,especially in the medical field.The continuum robot is a new type of bionic robot with high flexibility and flexibility.Compared with traditional rigid robots,continuous robots mimic this unique“invertebrate”of biological organs such as elephant trunk and octopus tentacles.The structure,with higher security and flexibility,can flexibly change its shape to suit different environments,and has its unique advantages in this highly demanding work.