Advances of surgical robotics:image-guided classification and application  

作　　者：Changsheng Li Gongzi Zhang Baoliang Zhao Dongsheng Xie Hailong Du Xingguang Duan Ying Hu Lihai Zhang 

机构地区：[1]Department of Orthopedics,Chinese PLA General Hospital,Beijing 100141,China [2]Shenzhen Institute of Advanced Technology,Chinese Academy of Sciences,Shenzhen 518055,China [3]School of Mechatronical Engineering,Beijing Institute of Technology,Beijing 100081,China [4]School of Medical Technology,Beijing Institute of Technology,Beijing 100081,China

出　　处：《National Science Review》2024年第9期304-324,共21页国家科学评论（英文版）

基　　金：supported by the National Natural Science Foundation of China(U21A20489 and U23A20345).

摘　　要：Surgical robotics application in the field of minimally invasive surgery has developed rapidly and has been attracting increasingly more research attention in recent years.A common consensus has been reached that surgical procedures are to become less traumatic and with the implementation of more intelligence and higher autonomy,which is a serious challenge faced by the environmental sensing capabilities of robotic systems.One of the main sources of environmental information for robots are images,which are the basis of robot vision.In this rev iew article,we div ide clinical image into direct and indirect based on the object of information acquisition,and into continuous,intermittent continuous,and discontinuous according to the target-tracking frequency.The characteristics and applications of the existing surgical robots in each category are introduced based on these two dimensions.Our purpose in conducting this review was to analyze,summarize,and discuss the current evidence on the general rules on the application of image technologies for medical purposes.Our analysis gives insight and provides guidance conducive to the development of more advanced surgical robotics systems in the future.

关 键 词：medical robotics surgical robotics medical image processing robot-assisted surgery 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]