Research progress of surgical robot for minimally invasive surgery

FU Yili; PAN Bo

doi:10.11918/j.issn.0367-6234.201806178

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Research progress of surgical robot for minimally invasive surgery

更新时间：2026-10-23

- Research progress of surgical robot for minimally invasive surgery
- Vol. 51, Issue 1, Pages: 1-15(2019)
- 作者机构：
  
  机器人技术与系统国家重点实验室(哈尔滨工业大学),哈尔滨,150001
- 作者简介：
- 基金信息：
- DOI：10.11918/j.issn.0367-6234.201806178
  CLC： TP242
- Published：2019
- 稿件说明：
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FU Yili, PAN Bo. Research progress of surgical robot for minimally invasive surgery[J]. 2019, 51(1): 1-15.
DOI：

FU Yili, PAN Bo. Research progress of surgical robot for minimally invasive surgery[J]. 2019, 51(1): 1-15. DOI： 10.11918/j.issn.0367-6234.201806178.

摘要

为实现外科手术的微创化、精确化、智能化、远程化

将机器人技术与微创外科手术相结合

在综述国内外微创外科手术机器人研究现状的基础上

重点论述和分析从操作手设计、控制结构与控制方法

对力反馈主手、手术器械及力感知、增强现实、半自主手术、手术训练系统等关键技术进行了介绍和分析. 基于上述技术研发的微创外科手术机器人改善了医生进行微创手术的环境和工具

提高了外科手术的质量

具有广泛的应用和发展前景. 对微创外科手术机器人技术的发展趋势进行了展望.

Abstract

To achieve the invasion

precision

intelligentization and remote manipulation of the surgery

the minimally invasive surgical robot developed by combining robotics with minimally invasive surgery (MIS) improves the environment and tools for MIS

and enhances the performance of the surgery

which has comprehensive application and development prospects. Based on the review of the research status of minimally invasive surgical robot

a variety of key technologies such as design of slave robotic arms

control structures and methods

haptic master hands

surgical instruments and force perceptive devices are discussed and analyzed

and then the augmented reality

semi-automatic surgery

surgical training system and the trend of minimally invasive surgical robotic technologies are presented.

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Related Author

PAN Bo

FU Yili

QIU Xueqin

XU Dianguo

GUO Chuangqiang

WU Chunya

ZOU Tian

ZHANG Zijian

Related Institution

State Key Laboratory of Robotics and System,Harbin Institute of Technology

School of Electrical Engineering and Automation, Harbin Institute of Technology

State Key Laboratory of Robotics and System (Harbin Institute of Technology)

School of Mechanical & Automotive Engineering, South China University of Technology

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