柔性消化内镜手术机器人的研发现状与展望  

Development status and prospect of flexible endoscopic digestive surgery robots

作　　者：李茂生 左秀丽[1] 季锐[1] Li Maosheng;Zuo Xiuli;Ji Rui(Department of Gastroenterology,Qilu Hospital of Shandong University,Jinan 250012,China)

机构地区：[1]山东大学齐鲁医院消化内科,济南250012

出　　处：《中华胃肠外科杂志》2024年第8期784-788,共5页Chinese Journal of Gastrointestinal Surgery

基　　金：泰山学者工程专项经费资助(tsqn202312333)。

摘　　要：随着腔镜手术机器人在微创外科手术中的广泛应用,机器人技术逐渐延伸到消化内镜等柔性内镜手术领域。越来越多的研究表明,手术机器人同样可以提升柔性内镜手术的操作效率和安全性,优化学习曲线。但由于消化道管腔狭窄曲折,柔性消化内镜手术机器人的研发及设计难度相对更大。本文从载体长度、柔性和人体工程学等方面介绍柔性消化内镜手术机器人的研发特点,并对其未来的临床应用进行展望,以期助力柔性手术机器人在自然腔道微创手术中的应用。With the extensive application of surgical robots represented by Da Vinci in minimally invasive surgical procedures,robotic technology has gradually extended to the field of flexible endoscopic surgery like digestive endoscopy.Many studies have shown that surgical robots can also improve the operational efficiency and safety of flexible endoscopic surgery and optimize the learning curve.However,due to the narrow and tortuous lumen of digestive tract,the development and design of flexible digestive endoscopic surgical robot is relatively more difficult.In this paper,the research and development characteristics of the flexible digestive endoscopic surgical robot are introduced from the aspects of carrier length,flexibility and ergonomics,and its future clinical application is prospected,with a view to facilitating the application of the flexible surgical robot in the minimally invasive surgical procedures of natural passages such as digestive,respiratory and urinary tract.

关 键 词：消化内镜 柔性手术机器人 人体工程学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] R656.6[自动化与计算机技术—控制科学与工程]