用于治疗和诊断的核磁共振兼容手术机器人系统的发展现状  

A survey on MR-compatible surgical robots for treatment and diagnosis

作　　者：吴迪 周兵[3] 肖霄 肖博 郭靖 何昭水 WU Di;ZHOU Bing;XIAO Xiao;XIAO Bo;GUO Jing;HE Zhaoshui(Technical University of Munich,Faculty of Mechanical Engineering,Munich 85748,Germany;KU Leuven,Department of Mechanical Engineering,Leuven 3001,Belgium;College of Mechanical and Vehicle Engineering,Hunan University,Changsha 410082,Hunan;Department of Electrical and Electronic Engineering,Southern University of Science and Technology,Shenzhen 518055,China;Department of Computing,Imperial College of London,London SW72BX,UK;School of Automation,Guangdong University of Technology,Guangzhou 510006,China;Key Laboratory for IoT Intelligent Information Processing and System Integration of Ministry of Education,Guangdong University of Technology,Guangzhou 510006,China)

机构地区：[1]慕尼黑工业大学机械工程学院,德国慕尼黑85748 [2]鲁汶大学机械工程系,比利时鲁汶3001 [3]湖南大学机械与运载工程学院,湖南长沙410082 [4]南方科技大学电子与电气工程系,广东深圳518055 [5]帝国理工学院计算机系,英国伦敦SW72BX [6]广东工业大学自动化学院,广东广州510006 [7]广东工业大学物联网智能信息处理与系统集成教育部重点实验室,广东广州510006

出　　处：《机器人外科学杂志（中英文）》2023年第4期299-319,共21页Chinese Journal of Robotic Surgery

基　　金：国家自然科学基金青年项目(61803103)。

摘　　要：核磁共振成像(Magnetic Resonance Imaging,MRI)通过高分辨率目标组织扫描,可以使医生和患者在免于电离辐射的情况下实现实时成像。近年来,科学家和工程师们一直尝试将机器人技术与MRI结合在一起,实现机器人辅助和图像引导相结合的诊断及治疗。本文介绍了可用于术中MRI的医疗机器人系统,具体包括它们的成像兼容性、驱动方式、传感方式、运动学以及机械和电气设计,这些技术使得机器人在MRI引导下的介入诊疗成为可能,此外,基于不同的医学场景,本文对各种MR兼容机器人系统做了分类和比较研究,最后对MR兼容机器人领域的未来发展方向进行了展望。Magnetic resonance imaging(MRI)is able to scan target tissues with high resolution,and allows clinicians as well as patients to be free from ionizing radiation.MRI enables real-time imaging of patients.In recent years,scientists and engineers have been trying to combine robotic technology with MRI to achieve robot-assisted and image-guided diagnosis and treatment.Medical robotic systems that could be used in intraoperative MRI were introduced in this survey,their MR compatibility,actuation,sensing,kinematics,and electro-mechanical designs were specially summarized and discussed.These robots make interventions under the guidance of MRI possible.In addition,based on various clinical scenarios,MR-compatible robotic systems are classified and comparatively studied.Finally,we conclude the survey with an outlook on the future research directions of the MR-compatible robotics.

关 键 词：MRI引导下介入 MR兼容 医疗机器人 

分 类 号：R608[医药卫生—外科学]