玻璃体视网膜显微手术机器人研究进展及前沿热点  

Research Progress and Forward Hotspots of Vitreo-retinal Microsurgical Robot

作　　者：张赫[1] 范志斌 李海铭 白明[1,2] 刘孟尧 杨嘉辉 赵杰 ZHANG He;FAN Zhibin;LI Haiming;BAI Ming;LIU Mengyao;YANG Jiahui;ZHAO Jie(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150006;School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401)

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150006 [2]河北工业大学机械工程学院,天津300401

出　　处：《机械工程学报》2023年第20期451-469,共19页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(52175008,92048301,52025054)。

摘　　要：由于眼组织精细、脆弱,眼球体积较小等原因,传统玻璃体视网膜手术难度大、风险高。机器人技术的引入,克服了传统手术稳定性差、精度低的弊病,提升手术安全性与可靠性。根据操作方式不同,从机器人构型、操作方式等方面分类介绍玻璃体视网膜显微手术机器人的研究进展。分析典型玻璃体视网膜疾病的手术流程,提出玻璃体视网膜机器人设计的基本要求,总结其共性技术。根据玻璃体视网膜手术机器人向智能化、自主化、精准化发展的趋势,对眼组织生物力学建模、术中多模态信息融合辅助技术、显微影像与OCT引导技术、多臂协作控制技术与共享控制技术等玻璃体视网膜手术机器人的研究热点进行介绍,并分析其未来发展趋势。Traditional vitreoretinal surgery is difficult and risky due to refined,fragile ocular tissue and small eyeball size.The introduction of robot technology overcomes the disadvantages of traditional surgery and improves the safety and reliability of surgery.According to different operation modes,the research progress of vitreoretinal microsurgical robots is introduced from the aspects of robot configuration and operation mode The surgical procedures of typical vitreoretinal diseases are analyzed,the basic requirements for the design of vitreoretinal robot are put forward,and its common techniques are summarized.According to the development trend of vitreoretinal surgical robots towards intelligence,autonomy and precision,the research hotspots of vitreo-retinal surgical robots,such as biomechanical modeling of ocular tissue,intraoperative multi-modal information fusion auxiliary technology,microimaging and OCT guiding technology,multi-arm cooperative control technology and shared-control technology,were introduced,and their future development trends were analyzed.

关 键 词：眼科手术机器人 玻璃体视网膜手术 生物力学建模 多模信息辅助 视觉引导 多臂协作 共享控制 

分 类 号：TG156[金属学及工艺—热处理]