MRI导航的机器人辅助微创外科手术系统设计

机器人辅助微创外科手术在当前医疗外科领域中发展迅速,磁共振成像(MRI)是近年来才应用于微创外科手术的成像技术,良好的物理特性和无电离辐射等优势使其处于介入放射学领域的前沿。文中介绍了由磁共振成像导航的机器人辅助微创外科手术系统的国内外研究现状,对系统涉及的术中磁共振成像扫描机系统设计、与磁共振相容的机器人系统设计、手术器械的主动和被动示踪和术中影像导航等技术进行了分析,并指出了今后的研究方向。

The Design of the MRI-Guided Robotic Minimally Invasive Surgery System

Robot assisted Minimally Invasive Surgery(MIS) is one of the rapidest directions in the current surgical realm. Magnetic Resonance Imaging(MRI) is an optimal imaging modality which was applied in MIS in recent years. This paper offers an overview of the MRI-guided robotic system for MIS. The design of the intraoperative MR scanner system is described. The MR-compatible robotic system is carefully designed for safety and sterilization issues. And the analysis for active and passive interventional surgical instrument tracking is provided. Synchronously the research orientations are also indicated.