Prendergast J Micah, Rentschler Mark E
a Department of Mechanical Engineering , University of Colorado , Boulder , CO , USA.
Expert Rev Med Devices. 2016 Aug;13(8):741-8. doi: 10.1080/17434440.2016.1205482. Epub 2016 Jul 11.
While autonomous surgical robotic systems exist primarily at the research level, recently these systems have made a strong push into clinical settings. The autonomous or semi-autonomous control of surgical robotic platforms may offer significant improvements to a diverse field of surgical procedures, allowing for high precision, intelligent manipulation of these systems and opening the door to advanced minimally invasive surgical procedures not currently possible.
This review highlights those experimental systems currently under development with a focus on in vivo modeling and control strategies designed specifically for the complex and dynamic surgical environment. Expert review: Novel methods for state estimation, system modeling and disturbance rejection, as applied to these devices, continues to improve the performance of these important surgical tools. Procedures such as Natural Orifice Transluminal Endoscopic Surgery and Laparo-Endoscopic Single Site surgery, as well as more conventional procedures such as Colonoscopy, serve to benefit tremendously from the development of these automated robotic systems, enabling surgeons to minimize tissue damage and shorten procedure times while avoiding the consequences of laparotomy.
虽然自主手术机器人系统主要处于研究阶段，但最近这些系统已大力进入临床环境。手术机器人平台的自主或半自主控制可能会给各种外科手术带来显著改善，实现这些系统的高精度、智能操作，并为目前尚无法实现的先进微创手术打开大门。
本综述重点介绍了目前正在开发的那些实验系统，特别关注专为复杂且动态的手术环境设计的体内建模和控制策略。专家评论：应用于这些设备的状态估计、系统建模和干扰抑制的新方法，不断提升这些重要手术工具的性能。诸如经自然腔道内镜手术和腹腔镜单孔手术等手术，以及诸如结肠镜检查等更传统的手术，都将从这些自动化机器人系统的发展中极大受益，使外科医生能够将组织损伤降至最低，缩短手术时间，同时避免开腹手术的后果。
