微创机器人手术器械研究进展

Research progress of surgical instruments for minimally invasive robotic surgery

由于外科手术向精准、微创的方向发展,微创机器人技术的发展也不断完善,在手术中的应用也有所增加。在微创手术中,微创机器人上的手术器械是直接进行手术动作的部分,其性能的好坏直接影响到手术效果的优劣。为得到更好的器械环境,研究人员设计了各种新型器械。为梳理当前国内外不断动态发展的研究成果,利用调查对比分析的方法,从设计研究的角度对关节铰接式、连续体式、单孔集成式微创机器人手术器械和力检测技术进行介绍并展望它们的发展趋势。这些技术的研究改善了微创手术的工具条件,提高了手术效果,有极大的发展和应用前景。

Due to the development of surgical operations in the directions of precision and minimally invasive robots,the minimally invasive robot technology is constantly developed and improved,and its application in surgery is also increased.In the minimally invasive surgery,the surgical instruments on the minimally invasive robot are the important part of the operation,and the performance directly affects the quality of the operation.To get a better device environment,researchers have designed a variety of new devices.Aiming to sort out the research results of the current dynamic development at home and abroad,using the method of investigation and comparative analysis,from the perspective of design and research,the present paper introduces the articulated,continuum,and single-port integrated surgical instruments for the minimally invasive robotic surgery and the force detection technology,and predicts their development trending.The research of these technologies improves the tool conditions and the minimally invasive surgery effects and has great development space and application prospects.