面向腔镜微创手术的连续体机械手关键技术与研究进展

doi:10.3901/JME.2023.19.044

摘要/Abstract

摘要： 传统刚性手术器械的运动局限性以及越来越严苛的腔镜微创手术诉求等因素推动了以连续体为代表的柔性手术机器人系统技术的发展与应用。这种柔性器械凭借结构尺度小、运动灵活度高等特性，能够通过狭窄弯曲的腔道通路完成手术操作，达到无切口的无创手术效果，被广泛应用于经自然腔道内镜等手术。概述了连续体机械手若干方面的关键技术，包括构型设计、结构优化、理论建模、运动控制、人机交互以及形状与力感知等方面的最新研究进展和面临的挑战。根据连续体机械手在不同腔镜微创手术中的应用，分类介绍了柔性手术机器人系统的研究现状，对其技术特点和临床应用进行了综合性分析总结，并对以连续体为代表的柔性手术机器人系统的技术与应用前景进行了展望。

关键词: 连续体机械手, 腔镜微创手术, 柔性手术机器人, 构型优化设计, 主从控制, 形状与力感知

Abstract: The motion limitations of traditional rigid surgical instruments and the increasingly demanding demands of minimally invasive lumpectomy are driving the development and application of flexible surgical robotics, represented by the continuum. These flexible instruments, with their small structural scale and high flexibility of motion, can perform surgical operations through narrow and curved cavity accesses, achieving non-invasive surgical results without incisions, and are widely used in procedures such as natural orifice transluminal endoscopic surgery. The key technical issues of the continuum manipulator are overviewed, including the latest research progress and challenges in the areas of configuration design, structural optimization, theoretical modeling, motion control, human-machine interaction, and shape and force sensing. According to the applications of continuum manipulators in different lumpectomies, the current research status of flexible surgical robotic systems is categorized and their technical characteristics and clinical applications are summarized in a comprehensive analysis. Finally, the prospect of the application of flexible surgical robotic systems represented by the continuum is presented.

Key words: continuum manipulator, minimally invasive laparoscopic surgery, flexible surgical robots, configuration optimization design, master-slave control, shape and force sensing

中图分类号:

TG156

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.

ZHANG He, LI Haiming, ZHANG Jiashan, REN Hao, LI Haotian, ZHAO Jie. Key Technologies and Research Progress of Continuum Manipulators for Minimally Invasive Laparoscopic Surgery[J]. Journal of Mechanical Engineering, 2023, 59(19): 44-64.

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