摘要
经尿道手术由于尿道解剖结构狭窄、内窥镜视野狭小,对医生的技术和经验要求较高,且术后并发症较多,亟需融合机器人技术提高手术质量、减少并发症、缩短医生学习曲线时间.为促进我国经尿道手术机器人的研究和发展,综述了国内外经尿道手术机器人研究现状,并分析了典型的经尿道手术操作,对经尿道手术机器人所涉及的机器人机构设计、力反馈技术、精密运动控制以及手术导航等关键技术进行了详尽的分析.在总结研究成果和分析关键技术的基础上,指出经尿道手术机器人今后的发展趋势和面临的挑战.
Due to the narrow anatomy of the urethra and the limited field of the view(FOV)of the resectoscope,the transurethral surgical outcomes highly depend on the technical ability and experience of surgeon,and have more complications.Robotics must be introduced to improve the quality of surgery,reduce complications,and shorten the learning curve of operation.In order to promote the research and development of transurethral surgical robots in China,the research status of transurethral surgical robots at home and abroad is reviewed,and the typical transurethral surgery and relevant researches in robot mechanism design,force feedback technology,precise motion control,and surgical navigation are discussed and analyzed.Based on the summary results and key technologies analysis,the trend and challenges of transurethral surgery robot are proposed as well.
作者
孙振
王田苗
王君臣
张学斌
SUN Zhen;WANG Tianmiao;WANG Junchen;ZHANG Xuebin(School of Mechanical Engineering and Automation,Beihang University,Beijing 100191,Chinw;Beijing Advanced Innovation Center for Biomedical Engineering,Beihang Universiry,Beijing 100183,China;Deparment of Urology,Peking Union Medical College Hospital,Beijing 100730,China)
出处
《机器人》
EI
CSCD
北大核心
2020年第6期716-733,共18页
Robot
基金
国家自然科学基金(61701014)
北京市科技计划(Z191100007619044).
关键词
经尿道手术机器人
远程运动中心
主从控制
力检测技术
力反馈技术
增强现实
transurethral surgical robot
remote center of motion
master-slave control
force sensing technology
force feedback technology
augmented reality
