Cepolina F, Michelini R C
DIMEC-PMAR Lab, Instrumental Robot Design Research Group, Department of Machines Mechanics and Design, University of Genova, Italy.
Int J Med Robot. 2004 Jun;1(1):43-63. doi: 10.1002/rcs.5.
Instrumental robotics aims to provide function-oriented solutions for given technical problems. Micro-Electro- Mechanical-Systems (MEMS) technologies provide miniaturized instruments, capable of effective duty-cycles at millimeter ranges. This review of current developments describes example devices, developed for intracorporeal operations; - system architectures, mainly concerned with problem-solving approaches and synthetic outlines of modified methods and layouts. This review is principally concerned with technologies, but the nature of the medical surroundings cannot be disregarded. Robotic devices serve surgical staff to help them accomplish surgical procedures. Safety and reliability require high functional and structural performance, especially for the active, autonomous stages of the operation. All these aspects are considered, and an overview is presented of characteristic features generally required for the miniaturization of instruments used in remote access surgery.
器械机器人技术旨在为特定技术问题提供面向功能的解决方案。微机电系统（MEMS）技术提供了小型化仪器，能够在毫米范围内实现有效的工作周期。本次对当前发展的综述描述了为体内操作开发的示例设备； - 系统架构，主要涉及解决问题的方法以及改进方法和布局的综合概述。本综述主要关注技术，但医疗环境的性质也不容忽视。机器人设备为手术人员提供帮助，以协助他们完成手术过程。安全性和可靠性要求具备高功能和结构性能，特别是在手术的主动、自主阶段。所有这些方面都得到了考虑，并概述了远程接入手术中使用的仪器小型化通常所需的特征。
