连续体手术机器人光纤导航技术现状和展望

Fiber-optic Navigation Technology for Continuum Surgical Robots:Status and Future Perspectives

连续体机器人在微创介入手术中逐渐得到广泛应用,其精准导航控制成为医学影像和手术机器人领域的研究热点和难点。光纤导航被视为最具潜力的连续体机器人导航技术之一。经过四十多年的研究发展,国内外在相关理论和方法、技术与系统和临床试验等方面都取得了较大进展,推动了该技术的临床应用。但是,目前仍然存在若干问题限制了该技术的应用发展,亟待探讨解决方法。为此,梳理了光纤导航技术的研究发展历程,分析了光纤导航的主要技术类型、技术优缺点和关键核心算法,指出了需要研究解决的关键问题,并从高精度定位、力触觉信息反馈、多模态影像融合识别、智能化和产品化等方面探讨了未来发展方向。

Continuum robots are gradually being widely used in minimally invasive interventional surgery.The precise navigation and control of continuum robots has become a research hotspot and difficulty in the field of medical imaging and surgical robots.Fiber-optic navigation is regarded as one of the most promising navigation technologies for continuum robots.After more than 40years of development,great progress has been made in related theories and methods,technology and systems,and clinical trials at home and abroad,which has promoted the clinical application of this technology.However,there are still several problems that limit the application and development of this technology,and it is urgent to explore solutions.To this end,the research and development history of optical fiber navigation technology is sorted out.The main technical types,technical advantages and disadvantages and key core algorithms of fiber-optic navigation are analyzed.The key issues that need to be studied and resolved are pointed out.The future development is discussed considering the high-precision positioning,force tactile feedback,multi-modal image fusion recognition,intelligence and productization etc.