摘要
血管介入手术机器人能够辅助医生远程控制导管导丝进行手术,减少辐射危害,提高手术精度,缩短手术时间,已经成为医疗机器人的研究热点。本文介绍了国内外研究机构近年来设计的血管介入手术机器人系统。针对血管介入手术机器人中的导管设备、图像导航、力反馈、技能评测等关键技术分别进行分析,阐明该技术在血管介入手术机器人系统中的重要意义,探讨了关键技术的发展趋势,最后列举了血管介入手术机器人系统未来研究方向。本文能够使研究者了解血管介入手术机器人的系统结构,掌握关键技术的发展状况,为今后的研究方向提供参考。
Vascular interventional surgical robots have become the research foucs of medical robots because of their advantages of assisting doctors to remotely control catheter guide wires for surgery to reduce radiation hazards,improve surgical accuracy,and shorten surgical time.This paper introduces the robotic system of vascular interventional surgical designed by various research institutions in recent years.Important technical developments in vascular interventional robotic system including catheter instrumentation,image navigation,force feedback,as well as skill evaluation have been reviewed and we analyze the meaning of these technologies in robotic systems and their development trend.Finally,the future research directions in vascular interventional robotic system are listed.This article can enable researchers to understand the structure of vascular interventional surgical robotic system,grasp the development status of key technologies,and provide references for future research direction.
作者
赵含霖
谢晓亮
奉振球
刘市祺
周小虎
侯增广
ZHAO Hanlin;XIE Xiaoliang;FENG Zhenqiu;LIU Shiqi;ZHOU Xiaohu;HOU Zengguang(State Key Laboratory of Management and Control for Complex Systems,Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China;School of Artificial Intelligence,University of Chinese Academy of Sciences,Beijing 100049,China;CAS Center for Excellence in Brain Science and Intelligence Technology,Beijing 100190,China)
出处
《中国医疗设备》
2020年第12期11-16,共6页
China Medical Devices
基金
国家重点研发计划(2019YFB1311700)
国家自然科学基金(61533016,U1913210)。
关键词
血管介入手术机器人
导管设备
图像导航
力反馈
技能评测
vascular interventional surgical robotic system
force feedback
catheter instrumentation
image navigation
skill evaluation
作者简介
通信作者:谢晓亮,副研究员,主要研究方向为手术机器人开发、建模与控制、智能人机交互、机器人类人行为学习、物理建模与仿真。邮箱:xiaoliang.xie@ia.ac.cn。
