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机器人辅助技术一直是现代外科医学的重要研究课题.研究机器人辅助针穿刺技术不仅有重要的理论意义,而且在临床上可以有效地提高针穿刺的操作精度和手术质量,因而在微创外科领域具有广泛的应用价值.本文以刚性针和柔性针为贯穿线索,对已有机器人穿刺系统进行了简要介绍,并针对建模、规划、导航与控制等关键技术进行分析,较系统地介绍了机器人辅助针穿刺技术领域的研究现状,最后阐述了该领域面临的挑战性问题及未来发展趋势.
Robot assisted technique has always been an important research topic in modern surgical medicine.Research robot assisted needle puncturing technique not only has important theoretical significance, but also can effectively improve the operation accuracy and quality of needle puncture in clinic and thus has the advantages in the field of minimally invasive surgery And has a wide range of application value.In this paper, the rigid needle and the flexible needle as the clues, the existing robot puncture system is briefly introduced, and the key technologies of modeling, planning, navigation and control are analyzed, the robot assisted The current research status of acupuncture and needle puncture technique is discussed. Finally, the challenges and future trends in this field are expounded.