机器人在眼科手术中的应用及研究进展

doi:10.13973/j.cnki.robot.180292

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贺昌岩, 杨洋, 梁庆丰, 韩少峰. 机器人在眼科手术中的应用及研究进展[J]. 机器人, 2019, 41(2): 265-275.DOI: 10.13973/j.cnki.robot.180292. HE Changyan, YANG Yang, LIANG Qingfeng, HAN Shaofeng. Applications and Research Progress of Robot Assisted Eye Surgery. ROBOT, 2019, 41(2): 265-275. DOI: 10.13973/j.cnki.robot.180292.

摘要首先分析了典型的眼科手术操作，提出了眼科机器人设计的一般要求.然后，从机器人系统和手术器械两方面出发，介绍了国内外眼科机器人的研究进展.最后，总结了当前眼科机器人系统的关键技术，包括眼组织生物力学分析、机构设计、多维信息传感以及精密运动控制技术，并分析了发展趋势.

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	贺昌岩
	杨洋
	梁庆丰
	韩少峰

关键词 ：眼科手术机器人, 智能手术器械, 眼组织生物力学分析, RCM(远程运动中心)机构, 多维信号传感, 精密运动控制

Abstract：Firstly, the typical eye surgery manipulation is analyzed, and the general design requirements of eye surgical robot is proposed. Secondly, the research progress of eye surgical robot is reviewed at home and abroad, including the robotic systems and the surgical devices. In the end, the key technologies of eye surgical robotic system are summarized including biomechanics analysis of eye tissue, mechanism structure design, multidimensional signal sensing, and precise motion control technology, and the research tendency is analyzed.

Key words： eye surgical robot smart surgical instrument biomechanics analysis of eye tissue RCM (remote center of motion) mechanism multidimensional signal sensing precise motion control

收稿日期: 2018-04-16 录用日期: 2018-06-27

TP242.3

基金资助:国家自然科学基金（50675008，51175013）；国家863计划重点项目（2017YFB1302702）

通讯作者: 杨洋 E-mail: yang_mech@buaa.edu.cn

作者简介: 贺昌岩(1993-),男,博士生.研究领域:医疗机器人技术
杨洋(1962-),男,博士,教授,博士生导师.研究领域:医疗机器人技术,灵巧手,智能机械设计
梁庆丰(1971-),男,博士,主任医师,教授.研究领域:感染眼病病原体发病机理,睑板腺功能障碍,角结膜肿瘤.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.180292 或 https://robot.sia.cn/CN/Y2019/V41/I2/265

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