手术机器人关键技术综述与优化探讨  

Overview of Key Technologies in Surgical Robots and Optimization Discussions

作　　者：马寻君 蔚俊 刘海涛 李娅 吴淏 皇艳波 徐彼得 林力 王金武 MA Xunjun;YU Jun;LIU Haitao;LI Ya;WU Hao;HUANG Yanbo;XU Bide;LIN Li;WANG Jinwu(School of Medical Information and Engineering,Xuzhou Medical University,Xuzhou,221004;Institute of Translational Medicine,Shanghai Jiao Tong University,Shanghai,200240;School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai,200030;School of Rehabilitation Medicine,Shandong Second Medical University,Weifang,261053;School of Medicine,Shanghai University,Shanghai,200444;School of Health Sciences and Engineering,University of Shanghai for Science and Technology,Shanghai,200082;Shanghai Ninth People's Hospital,Shanghai Jiao Tong University School of Medicine,Shanghai,200011)

机构地区：[1]徐州医科大学医学信息与工程学院,徐州市221004 [2]上海交通大学转化医学研究院,上海市200240 [3]上海交通大学机械工程学院,上海市200030 [4]山东第二医科大学康复医学院,潍坊市261053 [5]上海大学医学院,上海市200444 [6]上海理工大学健康科学与工程学院,上海市200082 [7]上海交通大学医学院附属上海市第九人民医院,上海市200011

出　　处：《中国医疗器械杂志》2024年第5期505-511,共7页Chinese Journal of Medical Instrumentation

基　　金：国家重点研发计划资助(2022YFF1202603);上海市科学技术委员会“科技创新行动计划”国内科技合作领域项目(22015820100);国家自然科学基金会青年科学基金项目(82301158);中国博士后科学基金面上项目(2023M742332);转化医学国家科学中心(上海)上海大学分中心开放重点课题(SUITM-202304);上海市“超级博士后”激励计划(2023787)。

摘　　要：手术机器人是国家战略诊疗设备研究重点,得到多所科研院所、高校及企业的广泛关注,设计研发了多款手术机器人,并进行了注册申报。该文深入探讨了手术机器人的关键技术及其性能优化要点,包括运动学的定位误差、位姿误差、反馈模型误差、图像识别定位误差、路径规划和安全性方面等。不仅为未来手术机器人标准化研究提供了科学依据,也为医疗机器人行业的研发、制造及注册流程提供了重要的理论与实践参考。Surgical robot is the national strategic diagnostic and therapeutic equipment research focus,get a number of scientific research institutes,colleges and universities and enterprises pay extensive attention to the design and development of a variety of surgical robots,and registration declaration.This article explores the critical technologies of surgical robots and key areas for optimizing their performance,including kinematic positioning errors,pose errors,feedback model errors,image recognition positioning errors,path planning,and safety aspects.The findings not only provide a scientific basis for future standardization research on surgical robots but also offer significant theoretical and practical references for the research,manufacturing,and registration processes in the medical robotics industry.

关 键 词：手术机器人 技术性能优化要点 安全性 定位误差 路径规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] R318[自动化与计算机技术—控制科学与工程]