Université Grenoble Alpes, CNRS, Grenoble INP, TIMC-IMAG, F-38000 Grenoble, France; email:
The Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, United Kingdom; email:
Annu Rev Biomed Eng. 2019 Jun 4;21:193-218. doi: 10.1146/annurev-bioeng-060418-052502. Epub 2019 Mar 1.
Medical robotics is poised to transform all aspects of medicine-from surgical intervention to targeted therapy, rehabilitation, and hospital automation. A key area is the development of robots for minimally invasive interventions. This review provides a detailed analysis of the evolution of interventional robots and discusses how the integration of imaging, sensing, and robotics can influence the patient care pathway toward precision intervention and patient-specific treatment. It outlines how closer coupling of perception, decision, and action can lead to enhanced dexterity, greater precision, and reduced invasiveness. It provides a critical analysis of some of the key interventional robot platforms developed over the years and their relative merit and intrinsic limitations. The review also presents a future outlook for robotic interventions and emerging trends in making them easier to use, lightweight, ergonomic, and intelligent, and thus smarter, safer, and more accessible for clinical use.
医疗机器人有望改变医学的各个方面——从手术干预到靶向治疗、康复和医院自动化。一个关键领域是开发用于微创手术的机器人。这篇综述详细分析了介入机器人的发展，并讨论了成像、传感和机器人技术的融合如何影响患者护理途径，实现精准干预和个体化治疗。它概述了如何通过更紧密地结合感知、决策和行动，提高灵活性、精度和降低侵入性。它对多年来开发的一些关键介入机器人平台进行了批判性分析，并讨论了它们的相对优点和内在局限性。该综述还展望了机器人介入的未来发展趋势，以及使它们更易于使用、更轻便、更符合人体工程学和智能化的新兴趋势，从而使其更智能、更安全、更易于临床应用。
