段星光, 温浩, 何睿, 李学松, 邱建星. 胸腹腔经皮穿刺机器人研究进展及关键技术分析[J]. 机器人, 2021, 43(5): 567-584. DOI: 10.13973/j.cnki.robot.200585
引用本文: 段星光, 温浩, 何睿, 李学松, 邱建星. 胸腹腔经皮穿刺机器人研究进展及关键技术分析[J]. 机器人, 2021, 43(5): 567-584. DOI: 10.13973/j.cnki.robot.200585
DUAN Xingguang, WEN Hao, HE Rui, LI Xuesong, QIU Jianxing. Advances and Key Techniques of Percutaneous Puncture Robots for Thorax and Abdomen[J]. ROBOT, 2021, 43(5): 567-584. DOI: 10.13973/j.cnki.robot.200585
Citation: DUAN Xingguang, WEN Hao, HE Rui, LI Xuesong, QIU Jianxing. Advances and Key Techniques of Percutaneous Puncture Robots for Thorax and Abdomen[J]. ROBOT, 2021, 43(5): 567-584. DOI: 10.13973/j.cnki.robot.200585

胸腹腔经皮穿刺机器人研究进展及关键技术分析

Advances and Key Techniques of Percutaneous Puncture Robots for Thorax and Abdomen

  • 摘要: 为促进我国经皮穿刺机器人的研究与发展,综述了国内外胸腹腔经皮穿刺机器人的研究现状.对穿刺机器人所涉及的术区信息感知、柔性针穿刺、运动规划、主从控制、安全交互控制等关键技术进行了讨论与分析.在总结研究成果与分析关键技术的基础上,指出胸腹腔经皮穿刺机器人今后的发展趋势与面临的挑战.

     

    Abstract: In order to promote the research and development of percutaneous puncture robots for thorax and abdomen in China, the research status of percutaneous puncture robots at home and abroad is reviewed. The key technologies involved in percutaneous puncture robots, such as operative area information perception, flexible needle puncture, motion planning, master-slave control, and safe interaction control, are discussed and analyzed. On the basis of summarizing the research results and analyzing the key technologies, the development trends and challenges of percutaneous puncture robots for thorax and abdomen in the future are pointed out.

     

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