- CN：11-2187/TH
- ISSN：0577-6686
机械工程学报 ›› 2023, Vol. 59 ›› Issue (20): 451-469.doi: 10.3901/JME.2023.20.451
张赫1, 范志斌1, 李海铭1, 白明1,2, 刘孟尧1, 杨嘉辉1, 赵杰1
收稿日期:2023-04-11
修回日期:2023-07-28
出版日期:2023-10-20
发布日期:2023-12-08
通讯作者:
赵杰(通信作者),男,1968年出生,博士,教授,博士研究生导师。主要研究方向为极端环境作业机器人关键技术、航天地面仿真与测试技术、仿生机器人关键技术、医疗及康复机器人关键技术与应用及多传感器系统集成及控制技术。E-mail:jzhao@hit.edu.cn
作者简介:张赫,男,1982年出生,博士,教授,博士研究生导师。主要研究方向为医疗机器人、仿生水陆两栖机器人。E-mail:zhanghe0451@hit.edu.cn;范志斌,男,2000年出生,硕士研究生。主要研究方向为人机交互、共享控制、医疗机器人。E-mail:21S008059@stu.hit.edu.cn;白明,男,1989年出生,博士研究生。主要研究方向为手术机器人技术,运动学标定,双臂协作技术。E-mail:bm673258549@163.com
基金资助:ZHANG He1, FAN Zhibin1, LI Haiming1, BAI Ming1,2, LIU Mengyao1, YANG Jiahui1, ZHAO Jie1
Received:2023-04-11
Revised:2023-07-28
Online:2023-10-20
Published:2023-12-08
摘要： 由于眼组织精细、脆弱，眼球体积较小等原因，传统玻璃体视网膜手术难度大、风险高。机器人技术的引入，克服了传统手术稳定性差、精度低的弊病，提升手术安全性与可靠性。根据操作方式不同，从机器人构型、操作方式等方面分类介绍玻璃体视网膜显微手术机器人的研究进展。分析典型玻璃体视网膜疾病的手术流程，提出玻璃体视网膜机器人设计的基本要求，总结其共性技术。根据玻璃体视网膜手术机器人向智能化、自主化、精准化发展的趋势，对眼组织生物力学建模、术中多模态信息融合辅助技术、显微影像与OCT引导技术、多臂协作控制技术与共享控制技术等玻璃体视网膜手术机器人的研究热点进行介绍，并分析其未来发展趋势。
中图分类号:
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.
ZHANG He, FAN Zhibin, LI Haiming, BAI Ming, LIU Mengyao, YANG Jiahui, ZHAO Jie. Research Progress and Forward Hotspots of Vitreo-retinal Microsurgical Robot[J]. Journal of Mechanical Engineering, 2023, 59(20): 451-469.
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