连续体手术机器人光纤导航技术现状和展望

doi:10.3901/JME.2023.01.001

机械工程学报 ›› 2023, Vol. 59 ›› Issue (1): 1-18.doi: 10.3901/JME.2023.01.001

扫码分享

连续体手术机器人光纤导航技术现状和展望

孙广开^1,2, 何彦霖^1,2, 于洋³, 韩静⁴, 赵冠棋³, 周康鹏^1,5, 祝连庆^1,2

1. 北京信息科技大学光电测试技术及仪器教育部重点实验室北京 100192;
2. 北京信息科技大学光纤传感与系统北京实验室北京 100016;
3. 首都医科大学附属北京安贞医院北京 100029;
4. 首都医科大学附属北京天坛医院北京 100070;
5. 天津大学精密仪器与光电子工程学院天津 300072

收稿日期:2021-12-14 修回日期:2022-08-12 出版日期:2023-01-05 发布日期:2023-03-30
通讯作者: 孙广开(通信作者),男,1984年出生,副教授,博士研究生导师。主要研究方向为手术机器人光纤导航、软体机器人感知、飞行器全寿命健康监测。E-mail:guangkai.sun@buaa.edu.cn;祝连庆(通信作者),男,1963年出生,博士,教授,博士研究生导师。主要研究方向为生物医学检测技术及仪器、光纤传感与光电器件、光电与视觉检测。E-mail:zhulianqing@sina.com
基金资助:
国家自然科学基金（61903041，81900454）、北京市自然科学基金（7202017，4204101）和北京市科技新星计划（Z191100001119052）资助项目。

Fiber-optic Navigation Technology for Continuum Surgical Robots:Status and Future Perspectives

SUN Guangkai^1,2, HE Yanlin^1,2, YU Yang³, HAN Jing⁴, ZHAO Guanqi³, ZHOU Kangpeng^1,5, ZHU Lianqing^1,2

1. Key Laboratory of the Ministry of Education for Optoelectronic Measurement Technology and Instrument, Beijing Information Science & Technology University, Beijing 100192;
2. Beijing Laboratory of Optical Fiber Sensing and System, Beijing Information Science & Technology University, Beijing 100016;
3. Beijing Anzhen Hospital, Capital Medical University, Beijing 100029;
4. Beijing Tiantan Hospital, Capital Medical University, Beijing 100070;
5. School of Precision Instrument and Opto-electronics Engineering, Tianjin University, Tianjin 300072

Received:2021-12-14 Revised:2022-08-12 Online:2023-01-05 Published:2023-03-30

摘要/Abstract

摘要： 连续体机器人在微创介入手术中逐渐得到广泛应用，其精准导航控制成为医学影像和手术机器人领域的研究热点和难点。光纤导航被视为最具潜力的连续体机器人导航技术之一。经过四十多年的研究发展，国内外在相关理论和方法、技术与系统和临床试验等方面都取得了较大进展，推动了该技术的临床应用。但是，目前仍然存在若干问题限制了该技术的应用发展，亟待探讨解决方法。为此，梳理了光纤导航技术的研究发展历程，分析了光纤导航的主要技术类型、技术优缺点和关键核心算法，指出了需要研究解决的关键问题，并从高精度定位、力触觉信息反馈、多模态影像融合识别、智能化和产品化等方面探讨了未来发展方向。

关键词: 光纤导航, 连续体机器人, 手术机器人, 微创手术, 介入手术

Abstract: Continuum robots are gradually being widely used in minimally invasive interventional surgery. The precise navigation and control of continuum robots has become a research hotspot and difficulty in the field of medical imaging and surgical robots. Fiber-optic navigation is regarded as one of the most promising navigation technologies for continuum robots. After more than 40 years of development, great progress has been made in related theories and methods, technology and systems, and clinical trials at home and abroad, which has promoted the clinical application of this technology. However, there are still several problems that limit the application and development of this technology, and it is urgent to explore solutions. To this end, the research and development history of optical fiber navigation technology is sorted out. The main technical types, technical advantages and disadvantages and key core algorithms of fiber-optic navigation are analyzed. The key issues that need to be studied and resolved are pointed out. The future development is discussed considering the high-precision positioning, force tactile feedback, multi-modal image fusion recognition, intelligence and productization etc.

Key words: fiber optic navigation, continuum robots, surgical robots, minimally invasive surgery, interventional surgery

中图分类号:

TG156

孙广开, 何彦霖, 于洋, 韩静, 赵冠棋, 周康鹏, 祝连庆. 连续体手术机器人光纤导航技术现状和展望[J]. 机械工程学报, 2023, 59(1): 1-18.

SUN Guangkai, HE Yanlin, YU Yang, HAN Jing, ZHAO Guanqi, ZHOU Kangpeng, ZHU Lianqing. Fiber-optic Navigation Technology for Continuum Surgical Robots:Status and Future Perspectives[J]. Journal of Mechanical Engineering, 2023, 59(1): 1-18.

参考文献

[1] ZEMMAR A, LOZANO A M, NELSON B J. The rise of robots in surgical environments during COVID-19[J]. Nature Machine Intelligence, 2020, 2:566-572.
[2] 何天宝, 郭闯强, 任浩, 等. 静脉穿刺机器人研究进展[J]. 机械工程学报, 2021, 57(3):1-10. HE Tianbao, GUO Chuangqiang, REN Hao, et al. Research progress of venipuncture robot[J]. Journal of Mechanical Engineering, 2021, 57(3):1-10.
[3] 严鲁涛, 王琦, 李海源, 等. 基于SMA驱动的连续体手术机器人研究综述[J]. 机械工程学报, 2021, 57(11):138-152. YAN Lutao, WANG Qi, LI Haiyuan, et al. Review of continue surgical robot actuated by SMA[J]. Journal of Mechanical Engineering, 2021, 57(11):138-152.
[4] DA VEIGA T, CHANDLER J H, LLOYD P, et al. Challenges of continuum robots in clinical context:A review[J]. Progress in Biomedical Engineering, 2020, 2(3):032003.
[5] VAN HERWAARDEN J A, JANSEN M M, VONKEN E P A, et al. First in human clinical feasibility study of endovascular navigation with fiber optic Realshape (FORS) technology[J]. European Journal of Vascular and Endovascular Surgery, 2021, 61(2):317-325.
[6] FLORIS I, ADAM J M, CALDERON P A, et al. Fiber optic shape sensors:A comprehensive review[J]. Optics and Lasers in Engineering, 2020, 139:106508.
[7] HANSEN MEDICAL. Hansen Medical and Philips reinforce collaboration in robotic systems for endovascular interventions[EB/OL].[2013-07-17]. https://www.usa.philips.com/a-w/about/news/archive/standard/news/press/2013/20130717-Hansen-Medical-and-Philips-reinforce-collaboration-in-robotic-systems-for-endovascular-interventions.html.
[8] INTUITIVE SURGICAL. Move surgery forward again da Vinci SP[EB/OL].[2021-01-01]. https://www.intuitive.com/en-us/products-and-services/da-vinci/systems/sp.
[9] INTUITIVE SURGICAL. How Ion Works[EB/OL].[2021-01-01]. https://www.intuitive.com/en-us/products-and-services/ion/how-ion-works.
[10] TECH BRIEFS. NASA-inspired shape-sensing fibers enable minimally invasive surgery[EB/OL].[2008-02-01]. https://www.techbriefs.com/component/content/article/tb/pub/features/articles/2585?start=2.
[11] JANSEN M, KHANDIGE A, KOBEITER H, et al. Three dimensional visualisation of endovascular guidewires and catheters based on laser light instead of fluoroscopy with fiber optic realshape technology:Preclinical results[J]. European Journal of Vascular and Endovascular Surgery, 2020, 60(1):135-143.
[12] GREGORY C, PAUL T, LARA F M, et al. System for tracking and determining characteristics of inflatable medical instruments using fiber-optical realshape data:European, 16730298.3[P], 2016-06-08[2020-05-20].
[13] FROGGATT M, MOORE J. High-spatial-resolution distributed strain measurement in optical fiber with Rayleigh scatter[J]. Applied Optics, 1998, 37(10):1735-1740.
[14] MOORE J P, ROGGE M D. Shape sensing using multi-core fiber optic cable and parametric curve solutions[J]. Optics Express, 2012, 20(3):2967.
[15] ROGGE M D, MOORE J P. Shape sensing using a multi-core optical fiber having an arbitrary initial shape in the presence of exterinsic forces:United States, US 2014/0053654 A1[P], 13/591, 320.
[16] CHAN H M, PARKER JR A R. In-situ three-dimensional shape rendering from strain values obtained through optical fiber sensors:United States, US 8, 970, 845 B1[P], 14/106, 947.
[17] FROGGATT M E, DUNCAN R G. Fiber optic position and/or shape sensing based on rayleiigh scatter:United States, US 7, 772, 541 B2[P], 12/047, 056.
[18] ASKINS C G, MILLER G A, FRIEBELE EJ. Bend and twist sensing in a multi-core optical fiber[C]//OFC/NFOEC 2008-2008 Conference on Optical Fiber Communication/National Fiber Optic Engineers Conference. San Diego:IEEE, 2008, 1-3.
[19] PARK Y L, ELAYAPERUMAL S, DANIEL B, et al. Real-time estimation of 3-D needle shape and deflection for MRI-guided interventions[J]. IEEE/ASME Transactions on Mechatronics, 2010, 15(6):906-915.
[20] ELAYAPERUMAL S, PLATA J C, HOLBROOK A B, et al. Autonomous real-time interventional scan plane control with a 3-D shape-sensing needle[J]. IEEE Transactions on Medical Imaging, 2014, 33(11):2128-2139.
[21] ROESTHUIS R J, KEMP M, DOBBELSTEEN V D, et al. Three-dimensional needle shape reconstruction using an array of fiber bragg grating sensors[J]. IEEE/ASME Transactions on Mechatronics, 2014, 19(4):1115-1126.
[22] XU R, YURKEWIICH A, PATEL R V. Curvature, torsion, and force sensing in continuum robots using helically wrapped FBG sensors[J]. IEEE Robotics and Automation Letters, 2016, 1(2):1052-1059.
[23] FLEXMAN M L, NERIMAN M M, KAHYA N, et al. Fiber-optic realshape sensing feeding tube:United States, US 2019/0046417[P], PCT/EP2017/053023.
[24] 刘铁根, 于哲, 江俊峰, 等. 分立式与分布式光纤传感关键技术研究进展[J]. 物理学报, 2017, 66(7), 070705. LIU Tiegen, YU Zhe, JIANG Junfeng, et al. Advances of some critical technologies in discrete and distributed optical fiber sensing research[J]. Acta Physica Sinica, 2017, 66(7):070705.
[25] MALEKZADEH M, GUL M, KWON II-B, et al. An integrated approach for structural health monitoring using an in-house built fiber optic system and non-parametric data analysis[J]. Smart Structures and Systems, 2014, 14(5):917-942.
[26] 孙艮, 白浩杰, 石玉伦, 等. 光频域反射计的研究进展及应用[J]. 激光与光电子学进展, 2020, 57(5), 050007. SUN Gen, BAI Haojie, SHI Yulun, et al. Research progress and application of optical frequency domain reflectometer[J]. Laser & Optoelectronics Progress, 2020, 57(5):050007.
[27] 况洋, 吴昊庭, 张敬栋, 等. 分布式多参数光纤传感技术研究进展[J]. 光电工程, 2018, 45(9):170678. KUANG Yang, WU Haoting, ZHANG Jingdong, et al. Advances of key technologies on distributed fiber system for multi-parameter sensing[J]. Opto-Electronic Engineering, 2018, 45(9):170678.
[28] 胡鑫鑫, 王亚辉, 赵乐, 等. 布里渊光相干域分析技术研究进展[J]. 中国激光, 2021, 48(1):0100001. HU Xinxin, WANG Yahui, ZHAO Le, et al. Research progress in Brillouin optical correlation domain analysis technology[J]. Chinese Journal of Lasers, 2021, 48(1):0100001.
[29] FLORIS I. Optical multicore fiber shape sensors:A numerical and experimental performance assessment[D]. Valencia:UNIVERSITAT POLITÈCNICA DE VALÈNCIA, 2020.
[30] KHAN F, DONDER A, GALVAN S, et al. Pose measurement of flexible medical instruments using fiber bragg gratings in multi-core fiber[J]. IEEE Sensors Journal, 2020, 20(18):10955-10962.
[31] KHAN F, DENASI A, BARRERA D, et al. Multi-core optical fibers with Bragg gratings as shape sensor for flexible medical instruments[J]. IEEE Sensors Journal, 2019, 19(14):5878-5884.
[32] CUI J, ZHAO S, YANG C, et al. Parallel transport frame for fiber shape sensing[J]. IEEE Photonics Journal, 2017, 10(1):1-12.
[33] MOORE J P. Shape sensing using multi-core fiber[C]//Optical Fiber Communications Conference and Exhibition (OFC). California:IEEE, 2015, 1-3.
[34] MOON H, JEONG J, KANG S, et al. Fiber-Bragg-grating-based ultrathin shape sensors displaying single-channel sweeping for minimally invasive surgery[J]. Optics and Lasers in Engineering, 2014, 59:50-55.
[35] ROESTHUIS R J, KEMP M, VAN DEN DOBBELSTEEN J J, et al. Three-dimensional needle shape reconstruction using an array of fiber bragg grating sensors[J]. IEEE/ASME Transactions on Mechatronics, 2014, 19(4):1115-1126.
[36] FLORIS I, MADRIGAL J, SALES S, et al. Twisting measurement and compensation of optical shape sensor based on spun multicore fiber[J]. Mechanical Systems and Signal Processing, 2020, 140, 106700.
[37] COOPER L J, WEBB A S, GILLOOLY A, et al. Design and performance of multicore fiber optimized towards communications and sensing applications[C]//Proc. SPIE 9359. San Francisco:Optical Components and Materials XII, 2015, 93590H.
[38] WESTBROOK P S, FEDER K S, KREMP T, et al. Integrated optical fiber shape sensor modules based on twisted multicore fiber grating arrays[C]//Proc. SPIE 8938. San Francisco:Optical Fibers and Sensors for Medical Diagnostics and Treatment Applications XIV, 2014, 89380H.
[39] TONGUE A, BRAUN J. Dynamic fiber optic shape sensing:United States, US 10, 663, 290 B1[P], 16/296, 489.
[40] ASKINS C G. Method and apparatus for measuring fiber twist by polarization tracking:United States, US 8, 452, 135, B2[P], 13/552, 948.
[41] FROGGATT M E, KLEIN J W, GIFFORD D K, et al. Optical position and/or shape sensing:United States, US 8, 773, 650 B2[P], 12/874, 901.
[42] FLORIS I, MADRIGAL J, SALES S, et al. Twisting compensation of optical multicore fiber shape sensors for flexible medical instruments[C]//Proc. SPIE 11233. San Francisco:Optical Fibers and Sensors for Medical Diagnostics and Treatment Applications XX, 2020, 1123316.
[43] XU R, YURKEWICH A, PATEL R V. Shape sensing for torsionally compliant concentric-tube robots[C]//San Francisco:Optical Fibers and Sensors for Medical Diagnostics and Treatment Applications XVI, 2016, 97020V.
[44] LALLY E M, REAVEES M, HORRELL E, et al. Fiber optic shape sensing for monitoring of flexible structures[C]//Proc. SPIE 8345. San Diego:Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems, 2012, 83452Y.
[45] WESTBROOK P S, KREMP T, FEDER K S, et al. Multicore optical fiber grating arrays for sensing applications[C]//Dusseldorf:42nd European Conference on Optical Communication. 2016, IEEE, 1-3.
[46] ZHAN X, LIU Y, TANG M, et al. Few-mode multicore fiber enabled integrated Mach-Zehnder interferometers for temperature and strain discrimination[J]. Optics Express, 2018, 26(12):15332-15342.
[47] JUNIOR L, FRIZERA A, MARQUES C, et al. Polymer-optical-fiber-based sensor system for simultaneous measurement of angle and temperature[J]. Applied Optics, 2018, 57(7):1717-1723.
[48] ZHAO Y, WANG C, YIN G, et al. Simultaneous directional curvature and temperature sensor based on a tilted few-mode fiber Bragg grating[J]. Applied Optics, 2018, 57(7):1671-1678.
[49] NEWKIRK A V, LOPEZ E A, DELGADO G S, et al. Multicore fiber sensors for simultaneous measurement of force and temperature[J]. IEEE Photonics Technology Letters, 2015, 27(14):1523-1526.
[50] MIT Technology Review. Robot-assisted high-precision surgery has passed its first test in humans[EB/OL].[2020-02-11]. https://www.technologyreview.com/2020/02/11/844866/robot-assisted-high-precision-surgery-has-passed-its-first-test-in-humans.
[51] RobotUnion. High-precision surgery robots:more than an assistant for surgeons[EB/OL].[2020-02-10]. https://robotunion.eu/high-precision-surgery-robots-more-than-an-assistant-for-surgeons.
[52] Medgadget, Inc. Microsure MUSA Robot Used for First Time on Real Patients[EB/OL].[2020-02-12]. https://www.medgadget.com/2020/02/microsure-musa-robot-used-for-first-time-on-real-patients.html.
[53] VAN MULKEN T J M, SCHOLS R M, SCHARMGA A M J, et al. First-in-human robotic supermicrosurgery using a dedicated microsurgical robot for treating breast cancer-related lymphedema:a randomized pilot trial[J]. Nature Communication, 2020, 11:757.
[54] 付宜利, 潘博. 微创外科手术机器人技术研究进展[J]. 哈尔滨工业大学学报, 2019, 51(1):1-15. FU Yili, PAN Bo. Research progress of surgical robot for minimally invasive surgery[J]. Journal of Harbin Institute of Technology, 2019, 51(1):1-15.
[55] 卢存存, 刘荣, 姚亮, 等. 机器人手术的临床应用分析[J]. 中华腔镜外科杂志, 2018, 11(4):203-207. LU Cuncun, LIU Rong, YAO Liang, et al. Clinical application and development of robotic surgery[J]. Chinese Journal of Laparoscopic Surgery, 2018, 11(4):203-207.
[56] WANG H, TOTARO M, BECCAI L. Toward perceptive soft robots:Progress and challenges[J]. Advanced Science, 2018, 5:1800541.
[57] KIM C, LEE C H. Development of a 6-DoF FBG force-moment sensor for a haptic interface with minimally invasive robotic surgery[J]. Journal of Mechanical Science and Technology, 2016, 30(8):3705-3712.
[58] NOH Y, BIMBO J, SAREH S, et al. Multi-axis force/torque sensor based on simply-supported beam and optoelectronics[J]. Sensors, 2016, 16(11):1936.
[59] NOH Y, SAREH S, WURDEMANN H, et al. Three-axis fiber-optic body force sensor for flexible manipulators[J]. IEEE Sensors Journal, 2016, 16(6):1641-1651.
[60] SU H, IORDACHITA I I, TOKUDA J. Fiber-Optic force sensors for MRI-Guided Interventions and Rehabilitation:A Review[J]. IEEE Sensors Journal, 2017, 17(7):1953-1962.
[61] NOH Y, LIU Hongbin, SAREH Sina, et al. Image-based optical miniaturized three-axis force sensor for cardiac catheterization[J]. IEEE Sensors Journal, 2016, 16(22):7924-7932.
[62] WU Y, LIU Y, ZHOU Y, et al. A skin-inspired tactile sensor for smart prosthetics[J]. Science Robotics, 2018, eaat0429:1-8.
[63] YANG T, XIE D, LI Z, et al. Recent advances in wearable tactile sensors:Materials, sensing mechanisms, and device performance[J]. Materials Science and Engineering R, 2017, 115:1-37.
[64] MO Z, XU W, BRODERICK N G R. Capability characterization via Ex-vivo experiments of a fiber optical tip force sensing needle for tissue identification[J]. IEEE Sensors Journal, 2018, 18(3):1195-1202.
[65] TOTARO M, MONDINI A, BELLACICCA A, et al. Integrated simultaneous detection of tactile and bending cues for soft robotics[J]. Soft Robotics, 2017, 4(4):400-410.
[66] RADU C, FISHER P, MITREA D, et al. Integration of real-time image fusion in the robotic-assisted treatment of hepatocellular Carcinoma[J]. Biology, 2020, 9:397.
[67] KOCHANSKI R B, LOMBARDI J M, LARATTA J L, et al. Image-guided navigation and robotics in spine surgery[J]. Neurosurgery, 2019, 84(6):1179-1189.
[68] YOSHII Y, TOTOKI Y, SASHIDA S, et al. Utility of an image fusion system for 3D preoperative planning and fluoroscopy in the osteosynthesis of distal radius fractures[J]. Journal of Orthopaedic Surgery and Research, 2019, 14:342.
[69] NITSCH J, KLEIN J, DAMMANN P, et al. Automatic and efficient MRI-US segmentations for improving intraoperative image fusion in image-guided neurosurgery[J]. NeuroImage:Clinical, 2019, 22:101766.
[70] ZHU Jiaqi, LYU Liangxiong, XU Yi, et al. Intelligent soft surgical robots for next-generation minimally invasive surgery[J]. Advanced Intelligent Systems, 2021, 3(5):2100011.
[71] FUJIE M G, ZHANG Bo. State-of-the-art of intelligent minimally invasive surgical robots[J]. Frontiers of Medicine, 2020, 14(4):404-416.
[72] TAJDARI F, TOULKANI N E, ZHILAKZADEH N. Intelligent optimal feed-back torque control of a 6DOF surgical rotary robot[C]//Tehran:11th Power Electronics, Drive Systems, and Technologies Conference (PEDSTC), 2020, IEEE, 1-6.
[73] LOFTUS T J, FILIBERTO A C, BALCH J, et al. Intelligent, autonomous machines in surgery[J]. Journal of Surgical Research, 2020, 253:92-99.
[74] SUNG M Y, KANG B, KIM J, et al. Intelligent haptic virtual simulation for suture surgery[J]. International Journal of Advanced Computer Science and Applications, 2020, 11(2):54-59.
[75] CHENG G, EHRLICH S K, LEBEDEV M, et al. Neuroengineering challenges of fusing robotics and neuroscience[J]. Science Robotics, 2020, 5(49):adb1911.
[76] PARK H L, LEE Y, KIM N, et al. Flexible neuromorphic electronics for computing, soft robotics, and neuroprosthetics[J]. Advanced Materials, 2019, 32(15):1903558.

连续体手术机器人光纤导航技术现状和展望

Fiber-optic Navigation Technology for Continuum Surgical Robots:Status and Future Perspectives

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	孙广开, 张兴硕, 何彦霖, 周康鹏, 祝连庆. 面向连续体机器人精密操作的多芯光纤三维形状与位置测量误差研究[J]. 机械工程学报, 2024, 60(3): 68-82.
[2]	秦岩丁, 蔡卓丛, 申亚京, 韩建达. 磁控式小型化医疗机器人研究综述与展望[J]. 机械工程学报, 2024, 60(17): 1-21.
[3]	宗俊杰, 杨洋, 王朝董, 郑昱, 林闯, 杨斯钦, 广晨汉. 面向眼内手术的主操作器设计与零力控制方法研究[J]. 机械工程学报, 2024, 60(17): 63-71.
[4]	李英田, 童鑫, 陈星宇, 莫菲, 孙众卿, 高兴, 王磊, 周小虎. 适应性气管支架植入机器人系统设计与验证[J]. 机械工程学报, 2024, 60(17): 72-79.
[5]	张赫, 范志斌, 李海铭, 白明, 刘孟尧, 杨嘉辉, 赵杰. 玻璃体视网膜显微手术机器人研究进展及前沿热点[J]. 机械工程学报, 2023, 59(20): 451-469.
[6]	张赫, 李海铭, 张佳闪, 任昊, 李浩天, 赵杰. 面向腔镜微创手术的连续体机械手关键技术与研究进展[J]. 机械工程学报, 2023, 59(19): 44-64.
[7]	严鲁涛, 王琦, 李海源, 张勤俭. 基于形状记忆合金驱动的连续体机器人路径规划[J]. 机械工程学报, 2023, 59(15): 50-61.
[8]	李锦龙, 刘传耙, 孙涛, 张弢, 连宾宾, 宋轶民. 面向并联骨折手术机器人的复位轨迹自动式规划方法[J]. 机械工程学报, 2022, 58(5): 26-33.
[9]	尚祖峰, 马家耀, 王树新. 面向微创手术器械臂的可变刚度机理综述[J]. 机械工程学报, 2022, 58(21): 1-15.
[10]	白明, 张明路, 张赫, 庞淋峻, 赵杰. 面向高精度显微手术机器人的RCM机械臂误差补偿方法[J]. 机械工程学报, 2022, 58(18): 170-180.
[11]	曹晟阁, 于靖军, 潘杰, 裴旭. 滚动接触柔性连续体机器人的设计与运动能力分析[J]. 机械工程学报, 2021, 57(19): 21-29.
[12]	严鲁涛, 王琦, 李海源, 李端玲, 夏继强. 基于SMA驱动的连续体手术机器人研究综述[J]. 机械工程学报, 2021, 57(11): 138-152.
[13]	冯美, 李妍, 赵继, 呼咏, 高奎鸿. 机器人辅助微创手术器械丝传动张力传递研究[J]. 机械工程学报, 2021, 57(11): 120-127.
[14]	叶伟, 谢镇涛, 李秦川. 一种可用于微创手术的并联机构运动学分析与性能优化[J]. 机械工程学报, 2020, 56(19): 103-112.
[15]	刘光, 张鹏飞, 陈华伟, 韩志武, 张德远. 载能电刀仿生防粘表面技术[J]. 机械工程学报, 2018, 54(17): 21-27.