基于“人-机-环”信息流的机器人手术系统研究与展望  

Research and Prospect of Robotic Surgical System Based on Human-Machine-Environment Information Flow

作　　者：崔皓鑫 王嵘 郑楠[2] 章颂 任瞳 梁渝靖 CUI Haoxin;WANG Rong;ZHENG Nan;ZHANG Song;REN Tong;LIANG Yujing(School of Artificial Intelligence,University of Chinese Academy of Sciences,Beijing 100049;State Key Laboratory of Multimodal Artificial Intelligence Systems,Institute of Automation,Chinese Academy of Sciences,Beijing 100190;Department of Adult Cardiac Surgery,the Sixth Medical Center,Chinese PLA General Hospital,Beijing 100853)

机构地区：[1]中国科学院大学人工智能学院,北京100049 [2]中国科学院自动化研究所多模态人工智能系统全国重点实验室,北京100190 [3]中国人民解放军总医院第六医学中心心血管病医学部成人心脏外科,北京100853

出　　处：《模式识别与人工智能》2024年第1期47-57,共11页Pattern Recognition and Artificial Intelligence

基　　金：国家重点研究发展计划项目(No.2022YFB4700805)资助。

摘　　要：机器人手术系统凭借微创、精细、灵活、无震颤等优势,在多个外科领域不断得到普及应用.然而,现有的机器人手术系统尚未充分发挥人和机器各自的优势,在智能化交互方面的表现有待提高.因此,文中首先从系统科学的角度分析机器人手术系统中交互关系的发展,并从多方面提出当前人机交互的不足.然后,构建面向机器人手术系统的“人-机-环”信息流框架,以机器人辅助乳内动脉获取手术场景为例,梳理“人-机-环”各部分之间的复杂交互.最后,基于“人-机结合”理论,结合构建的“人-机-环”信息流框架,提出以“人机融合智能共进”为目标的新一代机器人手术系统的设计思路,为实现更安全高效的机器人微创外科手术目标提供借鉴.Robot-assisted surgical systems continue to gain widespread application in various surgical fields,due to their minimally invasive,precise,flexible and tremor-free attributes.However,the advantages of both humans and machines are not fully exploited in the existing robot-assisted surgical systems,and the performance should be improved in the intelligent interaction aspect.Therefore,the development of interactive relationships within robot-assisted surgical systems is analyzed from a systems science perspective and the deficiencies in human-machine interaction are discussed from multiple viewpoints.Then,an"human-machine-environment"information flow framework for robot-assisted surgical systems is constructed.Taking the example of robotic-assisted internal mammary artery acquisition scenarios,the intricate interactions among the"human-machine-environment"different components are illustrated.Finally,based on the theory of"human-machine integration"and the established"human-machine-environment"information flow framework,a design approach for a new generation of robot-assisted surgical systems with the goal of"human-machine integration and intelligent co-development"is proposed.This proposal serves as a valuable reference for realizing the goal of safer and more efficient robotic minimally invasive surgery.

关 键 词：综合集成 人机系统 信息流 机器人手术系统 

分 类 号：TP399[自动化与计算机技术—计算机应用技术]