压电作动磁共振兼容手术机器人的研究进展  

Recent Development on Magnetic Resonance Compatible Surgical Robots Driven by Piezoelectric Actuator

作　　者：时运来[1] 林瑜阳 张军[1] SHI Yunlai;LIN Yuyang;ZHANG Jun(State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics & Astronautics, Nanjing 210016, China)

机构地区：[1]南京航空航天大学机械结构力学及控制国家重点实验室,江苏南京210016

出　　处：《压电与声光》2019年第1期106-114,共9页Piezoelectrics & Acoustooptics

基　　金：国家自然科学基金资助项目(51275235);航空科学基金资助项目(2016ZA52014);江苏高校优势学科建设工程基金资助项目

摘　　要：磁共振兼容手术机器人及其驱动技术是医疗器械研究领域的热点和前沿。该文对磁共振兼容手术机器人及其驱动技术的研究现状进行综述。首先,介绍磁共振成像技术的特征,然后,阐述磁共振兼容手术机器人的研究进展,比较磁共振兼容手术机器人不同驱动方式的特性,其次,重点介绍了压电作动器驱动的磁共振兼容手术机器人的研究现状,讨论磁共振兼容压电作动器的研究进展,最后,指出磁共振兼容压电作动手术机器人存在的问题和未来的研究方向。The magnetic resonance (MR) compatible surgical robots and the driven technologies are the hotspots and frontiers in the field of the medical equipment. This paper reviews the state-of-the-art of the MR-compatible surgical robots and the driven technologies. Firstly, the characteristics of the magnetic resonance imaging technologies introduced. Then, the developments of MR-compatible surgical robots summarized. The characteristics of different driven methods of MR-compatible surgical robots compared. Moreover, the research status of magnetic resonance compatible surgical robots driven by piezoelectric actuators mainly introduced. The research progress of magnetic resonance compatible piezoelectric actuators discussed. Finally, the problems of magnetic resonance compatible surgical robots driven by piezoelectric actuators and the prospect of future research summarized.

关 键 词：磁共振成像 磁共振兼容 手术机器人 压电作动器 

分 类 号：TN384[电子电信—物理电子学] TP242.3[自动化与计算机技术—检测技术与自动化装置]