基于单目视觉跟踪定位系统的手术机器人研究进展

Research advance of surgical robots based on monocular vision tracking and positioning system

随着数字化外科技术的迅速发展,因诊疗微创、精准化的需求,手术机器人系统应用于口腔颌面部手术成为必然趋势。基于计算机视觉的目标跟踪定位中,单目视觉系统具有结构简单、速度快、误差小和标定步骤少等优点,逐渐用于手术机器人。本文回顾手术机器人发展历史及应用现状,讨论单目视觉定位技术的优势、局限性以及研究进展,并就单目视觉系统手术机器人的进展及展望进行综述。

With the rapid development of digital surgical technology,the application of surgical robotic systems in oral and maxillofacial surgery has become an inevitable trend due to the demand for minimally invasive and precise treatment.Among the filed of computer vision-based target tracking and positioning,monocular vision system has the advantages of simple structure,fast speed,high accuracy and few calibration steps,and has been attempted in surgical robots.In this paper,the development history and application status of surgical robots was reviewed,the advantages,limitations and research progress of monocular vision localization technology were summarized,and then the progress and prospects of surgical robots with monocular vision system was discussed.