Minimally invasive surgery,including laparoscopic and thoracoscopic procedures,benefits patients in terms of improved postoperative outcomes and short recovery time.The challenges in hand–eye coordination and manipul...Minimally invasive surgery,including laparoscopic and thoracoscopic procedures,benefits patients in terms of improved postoperative outcomes and short recovery time.The challenges in hand–eye coordination and manipulation dexterity during the aforementioned procedures have inspired an enormous wave of developments on surgical robotic systems to assist keyhole and endoscopic procedures in the past decades.This paper presents a systematic review of the state-of-the-art systems,picturing a detailed landscape of the system configurations,actuation schemes,and control approaches of the existing surgical robotic systems for keyhole and endoscopic procedures.The development challenges and future perspectives are discussed in depth to point out the need for new enabling technologies and inspire future researches.展开更多
基金This work was supported in part by the National Natural Science Foundation of China(Nos.51722507,51435010 and 91648103)in part by the National Key R&D Program of China(No.2017YFC0110800).
文摘Minimally invasive surgery,including laparoscopic and thoracoscopic procedures,benefits patients in terms of improved postoperative outcomes and short recovery time.The challenges in hand–eye coordination and manipulation dexterity during the aforementioned procedures have inspired an enormous wave of developments on surgical robotic systems to assist keyhole and endoscopic procedures in the past decades.This paper presents a systematic review of the state-of-the-art systems,picturing a detailed landscape of the system configurations,actuation schemes,and control approaches of the existing surgical robotic systems for keyhole and endoscopic procedures.The development challenges and future perspectives are discussed in depth to point out the need for new enabling technologies and inspire future researches.
