机器人辅助神经介入手术研究进展  

Advances of robot-assisted neurointervention surgery

作　　者：于宁波 游煜根 王鸿鹏 秦岩丁 梁思泉[2] 韩建达 YU Ning-bo;YOU Yu-gen;WANG Hong-peng;QIN Yan-ding;LIANG Si-quan;HAN Jian-da(College of Artificial Intelligence,Engineering Research Center of Trusted Behavior Intelligence,Ministry of Education,Nankai University,Tianjin 300350,China;Department of Neurosurgery,Tianjin Huanhu Hospital,Tianjin 300350,China)

机构地区：[1]南开大学人工智能学院可信行为智能算法与系统教育部工程研究中心,天津300350 [2]天津市环湖医院神经外科,300350

出　　处：《中国现代神经疾病杂志》2023年第1期45-52,共8页Chinese Journal of Contemporary Neurology and Neurosurgery

基　　金：国家重点研发计划项目(项目编号:2022YFB4702800);国家自然科学基金资助项目(项目编号:U1913208)。

摘　　要：神经介入手术是神经功能障碍性疾病诊断与治疗及相关脑科学研究的重要方法。机器人辅助神经介入手术可以提高介入操作的微创性和精准性,是目前重要研究方向。神经介入手术的导航技术逐渐从传统的光学导航向MRI导航发展,介入材料从刚性针向主动式柔性针发展,手术路径规划与导航技术及手术机器人控制技术也不断发展。本文总结上述四方面关键技术,综述机器人辅助神经介入手术研究进展,以促进其临床应用。Neurointervention surgery is an important method for diagnosis and treatment of neurological disorders and related brain scientific research. Robot-assisted neurointervention surgery can improve the minimally invasive and accurate interventional surgery, which is an important research direction. At present, the navigation technology of neurointervention surgery has gradually developed from the traditional optical navigation to MRI navigation, the interventional materials have developed from rigid puncture needle to active flexible puncture needle, and the surgical path planning and navigation technology and the surgical robot control technology have also been developing. This paper summarizes the four key technologies mentioned above and reviews the research progress of robot-assisted neurointervention surgery to promote its clinical application.

关 键 词：机器人手术 脑疾病 磁共振成像 介入性 手术导航系统 综述 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] R741[自动化与计算机技术—控制科学与工程]