手术机器人的自动化研究进展

Progress in the automation of surgical robots

摘要:

手术机器人（SR）的自动化技术通过整合力反馈、视觉反馈、医学影像配准和手术导航等关键技术，不仅有效减轻了医生的劳动负荷，使医生能够更加专注于手术的整体执行过程，同时，它降低了对医生手术经验的依赖，有助于推动手术效果的标准化与同质化。尽管当前大多数SR系统仍主要用于辅助操作，部分机器人已初步展现出条件自动化的能力，展现了自动化手术研究的巨大潜力。然而，自动化手术的发展仍面临诸多挑战，如感知能力的不足、人工智能算法的局限性以及手术导航的技术瓶颈。本文总结了国内外常见SR的关键技术及其自动化研究进展，并对未来发展中的挑战与趋势进行探讨。

Abstract:

The automation technology of surgical robots (SR) integrates key techniques such as force feedback, visual feedback, medical image alignment, and surgical navigation. This integration not only effectively reduces the workload of surgeons, enabling them to focus more on the overall execution of the surgical procedure, but also decreases reliance on surgical experience, contributing to the standardization and homogenization of surgical outcomes. Although most current SR systems are primarily used for assisting operations, some robots have demonstrated conditional automation capabilities, showcasing significant potential in automated surgery research. However, the development of automated surgery still faces numerous challenges, including limited perception capabilities, constraints of artificial intelligence algorithms, and technical bottlenecks in surgical navigation. This paper summarizes the key technologies of commonly used SR systems globally, analyzes the progress in automation research, and discusses the challenges and trends in future development.