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山东大学学报(工学版) ›› 2017, Vol. 47 ›› Issue (3): 69-78.doi: 10.6040/j.issn.1672-3961.0.2016.482

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计算机辅助外科手术中医疗机器人技术研究综述

赵子健,王芳,常发亮   

  1. 山东大学控制科学与工程学院, 山东 济南 250061
  • 收稿日期:2016-12-21 出版日期:2017-06-20 发布日期:2016-12-21
  • 作者简介:赵子健(1979— ),男,山东济南人,副教授,博士,主要研究方向为计算机视觉,模式识别,机器人辅助手术.E-mail: zhaozijian@sdu.edu.cn
  • 基金资助:
    山东省优秀中青年科学家奖励研究基金资助项目(BS2013DX027);教育部博士点基金资助项目(20130131120036);国家自然科学基金资助项目(81401543,61673244)

Survey on medical robot in computer-aided surgery

ZHAO Zijian, WANG Fang, CHANG Faliang   

  1. School of Control Science and Engineering, Shandong University, Jinan 250061, Shandong, China
  • Received:2016-12-21 Online:2017-06-20 Published:2016-12-21

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摘要： 在计算机辅助手术领域中医疗机器人技术是目前一个研究热点。介绍医疗机器人技术的概念以及在计算机辅助手术中应用的必要性;针对医疗机器人技术在计算机辅助手术领域中的国内外研究现状,从骨外科、神经外科、窥镜外科和介入治疗等四个方面,分别进行了详细综述,并介绍具有代表性的外科手术机器人系统;通过分析医疗机器人当前的研究现状,指出内窥镜外科手术机器人将是未来医疗机器人的发展方向,通过探讨内窥镜外科手术机器人所涉及的四个亟待解决的问题,指出了需要进一步研究和发展的方向。

关键词: 医疗机器人, 神经外科手术机器人, 窥镜外科手术机器人, 介入治疗手术机器人, 骨外科手术机器人

Abstract: The application of medical robot technique in computer-aided surgery was a hot research topic at present. The concept of medical robot was introduced, and the necessity of its application in computer-aided surgery was also emphasized. The state of arts of medical robot technique was discussed systematically in computer-aided surgery, covering the four aspects: orthopedic surgery, neurological surgery, laparoscopic surgery and intervention surgery. Besides, some corresponding medical robot systems were also introduced. Through the analysis on the medical robot technique, the laparoscopic robot was considered as the most promising research direction. There were four urgent problems concerning the laparoscopic robot. Based on the four problems, further research questions and possible directions in the future were proposed.

Key words: medical robot, neurological robot, laparoscopic robot, intervention robot, orthopedic robot

中图分类号: 

  • TP242
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