计算机辅助外科手术中医疗机器人技术研究综述  

Survey on medical robot in computer-aided surgery

作　　者：赵子健[1] 王芳[1] 常发亮[1] ZHAO Zijian WANG Fang CHANG Faliang(School of Control Science and Engineering, Shandong University, Jinan 250061, Shandong, China)

机构地区：[1]山东大学控制科学与工程学院,山东济南250061

出　　处：《山东大学学报（工学版）》2017年第3期69-78,共10页Journal of Shandong University（Engineering Science）

基　　金：山东省优秀中青年科学家奖励研究基金资助项目(BS2013DX027);教育部博士点基金资助项目(20130131120036);国家自然科学基金资助项目(81401543;61673244)

摘　　要：在计算机辅助手术领域中医疗机器人技术是目前一个研究热点。介绍医疗机器人技术的概念以及在计算机辅助手术中应用的必要性;针对医疗机器人技术在计算机辅助手术领域中的国内外研究现状,从骨外科、神经外科、窥镜外科和介入治疗等四个方面,分别进行了详细综述,并介绍具有代表性的外科手术机器人系统;通过分析医疗机器人当前的研究现状,指出内窥镜外科手术机器人将是未来医疗机器人的发展方向,通过探讨内窥镜外科手术机器人所涉及的四个亟待解决的问题,指出了需要进一步研究和发展的方向。The application of medical robot technique in computer-aided surgery was a hot research topic at present. The concept of medical robot was introduced, and the necessity of its application in computer-aided surgery was also empha- sized. The state of arts of medical robot technique was discussed systematically in computer-aided surgery, covering the four aspects： orthopedic surgery, neurological surgery, laparoscopic surgery and intervention surgery. Besides, some cor- responding medical robot systems were also introduced. Through the analysis on the medical robot technique, the laparo- scopic robot was considered as the most promising research direction. There were four urgent problems concerning the laparo- scopic robot. Based on the four problems, further research questions and possible directions in the future were proposed.

关 键 词：医疗机器人 骨外科手术机器人 神经外科手术机器人 窥镜外科手术机器人 介入治疗手术机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]