From Teleoperation to Autonomous Robot-assisted Microsurgery:A Survey  

作　　者：Dandan Zhang Weiyong Si Wen Fan Yuan Guan Chenguang Yang 

机构地区：[1]Department of Engineering Mathematics,University of Bristol,Bristol BS81TH,UK [2]Department of Engineering Design and Mathematics,University of the West of England,Bristol BS161QY,UK [3]Bristol Robotics Laboratory,Bristol BS161QY,UK

出　　处：《Machine Intelligence Research》2022年第4期288-306,共19页机器智能研究（英文版）

基　　金：supported by Royal Society Research,UK (No.RGSR1221122)

摘　　要：Robot-assisted microsurgery(RAMS)has many benefits compared to traditional microsurgery.Microsurgical platforms with advanced control strategies,high-quality micro-imaging modalities and micro-sensing systems are worth developing to further enhance the clinical outcomes of RAMS.Within only a few decades,microsurgical robotics has evolved into a rapidly developing research field with increasing attention all over the world.Despite the appreciated benefits,significant challenges remain to be solved.In this review paper,the emerging concepts and achievements of RAMS will be presented.We introduce the development tendency of RAMS from teleoperation to autonomous systems.We highlight the upcoming new research opportunities that require joint efforts from both clinicians and engineers to pursue further outcomes for RAMS in years to come.

关 键 词：Robot-assisted microsurgery(RAMS) imaging and sensing TELEOPERATION cooperative control robot learning. 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] R616.2[自动化与计算机技术—控制科学与工程]