• CN:11-2187/TH
  • ISSN:0577-6686

›› 2013, Vol. 49 ›› Issue (1): 15-22.

• 论文 • 上一篇    下一篇

眼科显微手术机器人研究进展及关键技术分析

肖晶晶;杨洋;李大寨;黄龙;张雷雨   

  1. 北京航空航天大学机械工程及自动化学院
  • 发布日期:2013-01-05

Advances and Key Techniques of Ophthalmic Microsurgical Robots

XIAO Jingjing;YANG Yang;LI Dazhai;HUANG Long;ZHANG Leiyu   

  1. School of Mechanical Engineering and Automation, Beihang University
  • Published:2013-01-05

摘要: 部分眼科手术由于人类生理颤抖及精细操作限度,手术成功率较低,成功完成手术任务必须融合机器人技术。为促进我国眼科机器人技术的研究和发展,在论述眼科机器人研究意义的基础上,总结国内外眼科手术机器人的研究进展。对研究眼科机器人所涉及的机器人机构设计、微力感知与控制、眼组织的生物力学建模、约束空间运动规划、精密运动控制等关键技术进行了详尽的分析。在总结角膜移植手术机器人研究成果及分析眼内手术机器人关键技术的基础上,指出今后的发展方向、研究思路和面临的挑战,包括末端操作器的集成、新型手术器械的开发等,阐述将眼科手术辅助机器人应用于临床仍需要解决的问题。对于医疗外科机器人及相关的研究工作,具有一定的指导意义。

关键词: 生物力学建模, 微力控制, 眼科手术机器人, 远程运动中心点机构, 约束运动规划

Abstract: The successful rate of some ophthalmic surgery is extremely low due to the tremor and delicate manipulation limit of surgeons. Robotic technique must be introduced to make the surgery successful. In order to promote the research and development of ophthalmic microsurgical robots in China, the development and application of ophthalmic microsurgical robots, at home and abroad and such key techniques as robot prototype design, micro-force sense and control, biomechanics modeling of ocular tissue, constrained space motion plan and precision motion control, are reviewed after the significance of ophthalmic robot research has been discussed. On the basis of the summary results of corneal grafting robot and key techniques analysis of intraocular microsurgical robot, the trend of future development, research approach and challenges as the integration of end effectors and development of novel surgical instruments are proposed as well. The unsolved problems for clinical application of ophthalmic robot are discussed. The introduction is instructive for surgical robots and some related research in this field.

Key words: Biomechanics modeling, Constrained motion plan, Micro-force control, Ophthalmic surgical robot, Remote center of motion mechanism

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