神经外科手术机器人与导航系统的发展与应用  

Development and application of neurosurgery robots and navigation systems

作　　者：丁辉[1] 王广志[1] DING Hui;WANG Guang‐zhi(School of Biomedical Engineering,Tsinghua University,Beijing 100084,China)

机构地区：[1]清华大学生物医学工程学院,北京100084

出　　处：《中国现代神经疾病杂志》2025年第2期144-151,共8页Chinese Journal of Contemporary Neurology and Neurosurgery

基　　金：国家重点研发计划项目(项目编号:2022YFC2405304);北京市自然科学基金资助项目(项目编号:L246018)~。

摘　　要：神经外科手术机器人和导航系统的快速发展,显著提高手术的精准性和安全性。神经外科手术机器人为立体定向技术提供稳定平台,通过多模态影像融合进行手术规划,通过无标记点注册技术实现亚毫米级定位,并基于高自由度机械臂和集成传感器精准进行立体定向脑电图检查、脑深部电刺激术和磁共振引导激光间质热疗术等高精度定位定向操作。手术导航系统则通过光学或电磁定位追踪技术,结合多模态影像学数据,辅助术者准确追踪重要结构和目标病变组织。随着人工智能技术的发展,未来手术机器人和导航系统软件可自动生成个性化手术方案,减少人工误差。此外,多种技术融合将覆盖更广泛的神经外科手术范式,不仅降低手术并发症风险,而且有助于缩短手术时间,推动神经外科向智能化、微侵袭化发展。The rapid development of neurosurgery robots and navigation systems has significantly enhanced surgical precision and safety.Neurosurgery robots,based on stereotactic technology,achieve submillimeter‐level positioning through multi‐modal image fusion and non‐invasive registration techniques.Equipped with high‐degree‐of‐freedom robotic arms and integrated sensors,they precisely perform complex procedures such as stereo‐electroencephalography(SEEG)electrode implantation,deep brain stimulation(DBS)device placement,and magnetic resonance‐guided laser interstitial thermal therapy(MRgLITT).Navigation systems employ optical or electromagnetic tracking technologies combined with multi‐modal imaging to assist surgeons in tracking important structures and target lesion tissue precisely.Future advancements may autonomously generate personalized surgical plans to reduce human error,while flexible robotic arms and novel endoscope‐holding robots could expand endoscopic applications.Furthermore,the integration of multiple technologies will broaden neurosurgical applications.These innovations not only minimize complication risks and shorten treatment periods,but also propel the field toward intelligent,minimally invasive neurosurgery.

关 键 词：神经外科手术 机器人手术 神经导航 综述 

分 类 号：R651[医药卫生—外科学]