面向微创手术的医疗外科机器人构型综合

STRUCTURE SYNTHESIS OF SURGICAL ROBOT ORIENTING TO MINIMALLY INVASIVE SURGERY

摘要: 在微创手术中医疗外科机器人可以辅助医生精确定位和提供稳定的手术平台，本文结合医疗外科机器人结构特点和手术适用范围，对适合微创手术的机器人结构进行了构型综合分析，并以此为依据，设计出一种适用于神经外科立体定向手术的机器人，系统已经应用于临床，取得了满意的效果．

Abstract: In minimally invasive surgery, the surgical robot can assist doctors to position precisely and provide stable operation platform. In this paper, we synthetically analyze the structure types of robots suitable for minimally invasive surgery. According to the analysis, we design a robot which is suitable for stereotactic neurosurgery, and which has been successfully applied to clinic.