共查询到19条相似文献,搜索用时 343 毫秒
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微创外科手术(MIS,Minimally Invasive Surgery)机器人技术是近年发展起来的一个新兴的研究领域,该领域集医学、工程等多学科知识为一体,具备很大的研究价值。文中通过对该研究领域一些相关文献进行研究,归纳了微创外科手术机器人技术的特点、发展历史与现状、关键技术以及研究热点分支。针对我国缺乏自主研发的微刨外科手术机器人系统,而国外同类产品价格昂贵的状况,研究自主知识产权的微创外科手术机器人系统对于我国医疗卫生水平的提高具有重要战略意义。 相似文献
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连续体机器人在微创介入手术中逐渐得到广泛应用,其精准导航控制成为医学影像和手术机器人领域的研究热点和难点。光纤导航被视为最具潜力的连续体机器人导航技术之一。经过四十多年的研究发展,国内外在相关理论和方法、技术与系统和临床试验等方面都取得了较大进展,推动了该技术的临床应用。但是,目前仍然存在若干问题限制了该技术的应用发展,亟待探讨解决方法。为此,梳理了光纤导航技术的研究发展历程,分析了光纤导航的主要技术类型、技术优缺点和关键核心算法,指出了需要研究解决的关键问题,并从高精度定位、力触觉信息反馈、多模态影像融合识别、智能化和产品化等方面探讨了未来发展方向。 相似文献
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《现代制造技术与装备》2017,(1)
本文设计出一种能够辅助进行微创外科手术的机器人,此机器人应用模块化设计方式简化了机器人结构的复杂性,大大减小了设计周期。基于对介入式手术机器人连接模块、夹持器模块、俯仰关节模块、回转关节模块、摆动关节模块等模块的机械化结构设计,进一步提出了对此机器人的仿真模型构建步骤。 相似文献
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《机电工程》2015,(12)
针对目前服务机器人导航技术在实际应用中特别是在复杂动态工作环境下适应性弱的问题,总结阐述了服务机器人导航的基本方法、实现过程和最新研究成果,可为服务机器人自主导航并顺利完成服务任务提供参考。首先,着重分析了目前较为常见的磁导航、惯性导航、传感器导航和视觉导航等多种导航技术的基本原理以及优缺点,并总结了这些技术在服务机器人上的应用范围。然后,针对服务机器人导航过程中涉及的机器人定位和路径规划这两个主要过程,介绍了相关的算法以及最新的研究进展。研究结果表明,要提高服务机器人导航的适应性和智能化水平,改善导航精度不高以及可靠性差等问题,需根据实际情况选择合适的导航方法,同时进一步研究包括智能空间、多传感器融合等相关新技术。 相似文献
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主从式微创外科手术机器人主手设计 总被引:5,自引:0,他引:5
主从式微创手术(m in im ally invasive surgery,M IS)机器人系统是医学中的微创手术技术和机器人技术相结合的典型产物。在手术中,手术机器人能够辅助医生进行各种手术操作及精确的定位,并且提供稳定的操作平台。通过分析腹腔镜手术中手术器械的典型运动空间和医生手术操作的动作,以及微创手术机器人从手的结构形式和运动,根据从手的操作要求,我们设计了一种适用于腹腔镜手术的主从式机器人系统的主手结构。模拟试验和仿真结果表明所设计的主手结构满足微创手术的要求。 相似文献
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Yoon Hyuk Kim Huynh Le Minh 《International Journal of Precision Engineering and Manufacturing》2011,12(2):237-242
Recently, commercially available computer-aided surgical robot systems have been introduced to enable surgeons to improve
the accuracy of cutting and alignment in total knee arthroplasty (TKA). The minimal invasive surgery (MIS) in the TKA has
been increased since MIS can improve the surgical outcomes such as the recovery time and hospital stay by reducing the incision
in surgery. However, current surgical robot systems do not provide the MIS TKA capability. In this study, we developed a laboratory-level
surgical robot system to cut the bone from the lateral direction of the knee joint to provide MIS TKA. TKA experiments with
saw bones of femur were compared between the conventional approach and the MIS approach. The incision length for the working
space of the cutting tool and bone cutting time were decreased in lateral direction bone cutting. In addition, the cutting
surface was smoother and the ranges of motion of all six joints were decreased in lateral direction bone cutting. Moreover,
the cutting accuracy in terms of the lengths and angles of five cutting planes in femur were smaller in lateral approach than
those in conventional approach. Therefore, consideration of bone cutting from the lateral direction in robotic TKA surgery
should be necessary to improve the surgical outcomes in knee arthroplasty. The developed surgical robot system could be a
platform of various orthopedic robotic surgeries. 相似文献
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Development of optical fiber Bragg grating force-reflection sensor system of medical application for safe minimally invasive robotic surgery 总被引:1,自引:0,他引:1
Force feedback plays a very important role in medical surgery. In minimally invasive surgery (MIS), however, the very long and stiff bars of surgical instruments greatly diminish force feedback for the surgeon. In the case of minimally invasive robotic surgery (MIRS), force feedback is totally eliminated. Previous researchers have reported that the absence of force feedback increased the average force magnitude applied to the tissue by at least 50%, and increased the peak force magnitude by at least a factor of two. Therefore, it is very important to provide force information in MIRS. Recently, many sensors are being developed for MIS and MIRS, but some obstacles to their application in actual medical surgery must be surmounted. The most critical problems are size limit and sterilizability. Optical fiber sensors are among the most suitable sensors for the surgical environment. The optical fiber Bragg grating (FBG) sensor, in particular, offers an important additional advantage over other optical fiber sensors in that it is not influenced by the intensity of the light source. In this paper, we present the initial results of a study on the application of a FBG sensor to measure reflected forces in MIRS environments and suggest the possibility of successful application to MIRS systems. 相似文献
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Hu YidaRobotic Institute Beihang University Beijing ChinaZhao ZhiwenSingapore-MIT Alliance Schoolof Mechanical AerospaceEngineering Nanyang Technological University SingaporeLi DazhaiZong GuanghuaRobotic Institute Beihang University Beijing China 《机械工程学报(英文版)》2005,18(3):356-360
0 INTRODUCTIONRobotic assisted microsurgery(RAMS) has combined micros-urgery with robotic techniques closely in order to enhance theeffect of surgery, to reduce the occurrence of post-operationalcomplication and to alleviate the physical and mental fatigue ofthe surgeon.Microsurgery technology has been extensively applied inophthalmic surgery, such as corneal grafting (keratoplasty), ocularvitrectomy, treatment of retinal disease, which boost the develop-ment of modern ophthalmic surgery… 相似文献
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Laboratory-level telesurgery with industrial robots and haptic devices communicating via the internet 总被引:1,自引:0,他引:1
Yoon Hyuk Kim Le Dinh Phong Won Man Park Kyungsoo Kim Koon Ho Rha 《International Journal of Precision Engineering and Manufacturing》2009,10(2):25-29
With recent advances in data communications and robotic engineering, surgical robots have evolved into telerobotic surgical
platforms that permit surgeons to operate on patients from remote locations using robotic instruments. Even so, telesurgical
systems need to be improved by considering haptic sense or force feedback. In this study, a laboratory-level telesurgical
system with force feedback was developed using industrial robots and commercial haptic systems operating over the Internet.
Telesurgery via high-bandwidth UDP/IP communication was successfully conducted on objects mimicking human organs by the surgical
robot system commanded by a surgeon 40 km away. During the test experiment, the surgeon could feel the interaction between
the instruments and the tissues. The time delay was less than 45 ms with very little discrepancy between the command of the
haptic device and the movement of the robot. This technology is useful for developing a clinically applicable telesurgical
robot system that could be used in various emergency situations. 相似文献
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