摘要
部分眼科手术由于人类生理颤抖及精细操作限度,手术成功率较低,成功完成手术任务必须融合机器人技术。为促进我国眼科机器人技术的研究和发展,在论述眼科机器人研究意义的基础上,总结国内外眼科手术机器人的研究进展。对研究眼科机器人所涉及的机器人机构设计、微力感知与控制、眼组织的生物力学建模、约束空间运动规划、精密运动控制等关键技术进行了详尽的分析。在总结角膜移植手术机器人研究成果及分析眼内手术机器人关键技术的基础上,指出今后的发展方向、研究思路和面临的挑战,包括末端操作器的集成、新型手术器械的开发等,阐述将眼科手术辅助机器人应用于临床仍需要解决的问题。对于医疗外科机器人及相关的研究工作,具有一定的指导意义。
The successful rate of some ophthalmic surgery is extremely low due to the tremor and delicate manipulation limit of surgeons. Robotic technique must be introduced to make the surgery successful. In order to promote the research and development of ophthalmic microsurgical robots in China, the development and application of ophthalmic microsurgical robots, at home and abroad and such key techniques as robot prototype design, micro-force sense and control, biomechanics modeling of ocular tissue, constrained space motion plan and precision motion control, are reviewed after the significance of ophthalmic robot research has been discussed. On the basis of the summary results of corneal grafting robot and key techniques analysis of intraocular microsurgical robot, the trend of future development, research approach and challenges as the integration of end effectors and development of novel surgical instruments are proposed as well. The unsolved problems for clinical application of ophthalmic robot are discussed. The introduction is instructive for surgical robots and some related research in this field.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2013年第1期15-22,共8页
Journal of Mechanical Engineering
基金
国家自然科学基金资助项目(50675008
51175013)
关键词
眼科手术机器人
远程运动中心点机构
微力控制
约束运动规划
生物力学建模
Ophthalmic surgical robot Remote center of motion mechanism Micro-force control Constrained motion planBiomechanics modeling
