基于单目视觉跟踪定位系统的手术机器人研究进展  

Research advance of surgical robots based on monocular vision tracking and positioning system

作　　者：黄心怡 李文皓 雷云丹 黄景揚 于洪波[3] HUANG Xin-yi;LI Wen-hao;LEI Yun-dan;HUANG Jing-yang;YU Hong-bo(Shanghai Jiao Tong University School of Medicine,Shanghai 200025;Shanghai Jiao Tong University School of Biomedical Engineering,Shanghai 200241;Department of Craniomaxillofacial Surgery,Shanghai Ninth People's Hospital,Shanghai Jiao Tong University School of Medicine,College of Stomatology,Shanghai Jiao Tong University,National Center for Stomatology,National Clinical Research Center for Oral Diseases,Shanghai Key Laboratory of Stomatology,Shanghai Research Institute of Stomatology.Shanghai 200011,China)

机构地区：[1]上海交通大学医学院,上海200025 [2]上海交通大学生物医学工程学院,上海200241 [3]上海交通大学医学院附属第九人民医院口腔颅颌面科,上海交通大学口腔医学院,国家口腔医学中心,国家口腔疾病临床医学研究中心,上海市口腔医学重点实验室,上海市口腔医学研究所,上海200011

出　　处：《中国口腔颌面外科杂志》2024年第5期487-492,共6页China Journal of Oral and Maxillofacial Surgery

基　　金：国家自然科学基金(81571022);上海市自然科学基金(23ZR1438100);上海交通大学医学院科研计划项目(DLY201808)。

摘　　要：随着数字化外科技术的迅速发展,因诊疗微创、精准化的需求,手术机器人系统应用于口腔颌面部手术成为必然趋势。基于计算机视觉的目标跟踪定位中,单目视觉系统具有结构简单、速度快、误差小和标定步骤少等优点,逐渐用于手术机器人。本文回顾手术机器人发展历史及应用现状,讨论单目视觉定位技术的优势、局限性以及研究进展,并就单目视觉系统手术机器人的进展及展望进行综述。With the rapid development of digital surgical technology,the application of surgical robotic systems in oral and maxillofacial surgery has become an inevitable trend due to the demand for minimally invasive and precise treatment.Among the filed of computer vision-based target tracking and positioning,monocular vision system has the advantages of simple structure,fast speed,high accuracy and few calibration steps,and has been attempted in surgical robots.In this paper,the development history and application status of surgical robots was reviewed,the advantages,limitations and research progress of monocular vision localization technology were summarized,and then the progress and prospects of surgical robots with monocular vision system was discussed.

关 键 词：手术机器人 目标跟踪定位 单目视觉 颅颌面手术 

分 类 号：R782.05[医药卫生—口腔医学]