From Teleoperation to Autonomous Robot-assisted Microsurgery:A Survey

Robot-assisted microsurgery(RAMS)has many benefits compared to traditional microsurgery.Microsurgical platforms with advanced control strategies,high-quality micro-imaging modalities and micro-sensing systems are worth developing to further enhance the clinical outcomes of RAMS.Within only a few decades,microsurgical robotics has evolved into a rapidly developing research field with increasing attention all over the world.Despite the appreciated benefits,significant challenges remain to be solved.In this review paper,the emerging concepts and achievements of RAMS will be presented.We introduce the development tendency of RAMS from teleoperation to autonomous systems.We highlight the upcoming new research opportunities that require joint efforts from both clinicians and engineers to pursue further outcomes for RAMS in years to come.