[1] 王国彪,彭芳瑜,王树新,等. 微创手术机器人研究进展——“微创手术机器人及器械基础理论与关键技术”双清论坛综述[J]. 中国科学基金,2009,23(4):209-214. WANG Guobiao,PENG Fangyu,WANG Shuxin,et al. Advances in minimally invasive surgical robot-"minimally invasive surgical robots and instruments basic theory and key technology" shuangqing forum summary[J]. Bulletin of National Natural Science Foundation of China,2009,23(4):209-214. [2] GARY S G.,J K S. The Intuitive telesurgery system:Overview and application[J]. Proceedings of the 2005 IEEE International Conference on Robotics & Automation,2000,1(1):618-621. [3] SUN L W,MEER F Van,et al. Advanced da Vinci surgical system simulator for surgeon training and operation planning[J]. International Journal of Medical Robotics and Computer Assisted Surgery,2007,3(3):245-251. [4] WANG Shuxin,DING Jienan,YUN Jintian. A robotic system with force feedback for micro-surgery[J]. Proceedings of the 2005 IEEE International Conference on Robotics & Automation,2005:199-204. [5] LI Qunzhi,WANG Shuxin,YUN Jintian,et al. Haptic device with gripping force feedback[J]. Proceedings of the 2005 IEEE International Conference on Robotics & Automation,2005:1190-1195. [6] 岳龙旺,许天春,贠今天. “妙手”系统机械结构设计与优化[J]. 机器人,2006,28(2):154-159. YUE Longwang, XU Tianchun,YUN Jintian. Mechanism design and optimization for “MicroHang” system[J]. Robot,2006,28(2):154-159. [7] 王树新,丁杰男,贠今天,等. 显微外科手术机器人-“妙手”系统的研究[J]. 机器人,2006,28(2):130-136. WANG Shuxin,DING Jienan,YUN Jintian,et al,A robotic system for mircosurgery:The “MicroHang” system[J]. Robot,2006,28(2):130-136. [8] OKAMURA,ALLISON M. Haptic feedback in robot-assisted minimally invasive surgery [J]. Current Opinion in Urology,2009,19(1):102-107. [9] MAHVASH M,MOHSEN V,LIMING M K,et al. Modeling the forces of cutting with scissors [J]. IEEE Transactions on Biomedical Engineering,2008,55(3):848-856. [10] MAHVASH,MOHSEN H,VINCENT. Haptic rendering of cutting:A fracture mechanics approach [J]. Haptics-e,2001,2(3):1-12. [11] TEERANOOT C,JAYDEV P D,ALANC W L. Measuring forces in liver cutting:New equipment and experimental results[J]. Annals of Biomedical Engineering,2003,31(11):1372-1382. [12] TEERANOOT C,JAYDEV P D,LAU A C U. Study of soft tissue cutting forces and cutting speeds [J]. Stud. Health Technol. Inform.,2004,98:56-62. [13] VALDASTRI P,TOGNARELLI S,MENCIASSI A,et al. A scalable platform for biomechanical studies of tissue cutting forces[J]. Measurement Science and Technology,2009,20(4):1-11. [14] 宋卫国,原魁. 用于触觉建模的生物组织切割特征多参量采集[J]. 系统仿真学报,2006,18(1):204-206. SONG Weiguo,YUAN Kui. Measuring cutting parameters of soft tissue for haptic modeling[J]. Journal of System Simulation,2006,18(1):204-206. [15] 胡中伟. 生物软组织切割机理的试验与理论研究[D]. 长沙:湖南大学,2011. HU Zhongwei,Experiment and theory research on cutting mechanism of biological soft tissue [D]. Changsha:Hunan University,2011. [16] 胡中伟,张璧. 生物软组织切割过程建模[J]. 中国机械工程,2011,22(17):2043-2047,2060. HU Zhongwei,ZHANG Bi. Modeling of soft tissue cutting process[J]. China Mechanical Engineering,2011(17):2043-2047,2060. [17] HU Zhongwei,ZHANG Bi,SUN Wei. Cutting characteristics of biological soft tissues[J]. CIRP Annals - Manufacturing Technology,2012,61(1):135-138. [18] 冯元桢. 生物力学[M]. 北京:科学出版社. 1983. FENG Yuanzhen. Biomechanics[M]. Beijing:Science Press,1993. [19] 魏娴. 肌腱生物力学研究进展[J]. 组织工程与重建外科杂志,2005,1(6):350-352. WEI Xian. Advances in tendon biomechanics[J]. Journal of Tissue Engineering and Reconstructive Surgery,2005,1(6):350-352. [20] O'CONNELL M,MURTHY S,PHAN S,et al. The three-dimensional micro- and nanostructure of the aortic medial lamellar unit measured using 3D confocal and electron microscopy imaging[J]. Matrix Biology,2008,27(3):171-181. |