摘要
为促进我国经皮穿刺机器人的研究与发展,综述了国内外胸腹腔经皮穿刺机器人的研究现状。对穿刺机器人所涉及的术区信息感知、柔性针穿刺、运动规划、主从控制、安全交互控制等关键技术进行了讨论与分析。在总结研究成果与分析关键技术的基础上,指出胸腹腔经皮穿刺机器人今后的发展趋势与面临的挑战。
In order to promote the research and development of percutaneous puncture robots for thorax and abdomen in China, the research status of percutaneous puncture robots at home and abroad is reviewed. The key technologies involved in percutaneous puncture robots, such as operative area information perception, flexible needle puncture, motion planning,master-slave control, and safe interaction control, are discussed and analyzed. On the basis of summarizing the research results and analyzing the key technologies, the development trends and challenges of percutaneous puncture robots for thorax and abdomen in the future are pointed out.
作者
段星光
温浩
何睿
李学松
邱建星
DUAN Xingguang;WEN Hao;HE Rui;LI Xuesong;QIU Jianxing(School of Mechatronical Engineering,Beijing Institute of Technology,Beijing 100081,China;Beijing Advanced Innovation Center for Intelligent Robots and Systems,Beijing Institute of Technology,Beijing 100081,China;Peking University First Hospital,Beijing 100035,China)
出处
《机器人》
EI
CSCD
北大核心
2021年第5期567-584,共18页
Robot
基金
国家自然科学基金(U2013209)
北京市科技计划(Z191100008019007).
关键词
经皮穿刺机器人
术区信息感知
柔性针穿刺
运动规划
主从控制
安全交互控制
percutaneous puncture robot
operative area information perception
flexible needle puncture
motion planning
master-slave control
safe interaction control
