Advances and Key Techniques of Percutaneous Puncture Robots for Thorax and Abdomen
DUAN Xingguang1,2, WEN Hao1,2, HE Rui1,2, LI Xuesong3, QIU Jianxing3
1. School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China; 2. Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing 100081, China; 3. Peking University First Hospital, Beijing 100035, China
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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