RII Lab (Lab of Robotics Innovation and Intervention), UM-SJTU Joint Institute, Shanghai Jiao Tong University, Shanghai, 200240, China.
Department of Urology, Shanghai Changhai Hospital, the Second Military Medical University, Shanghai, 200433, China.
Front Med. 2020 Aug;14(4):382-403. doi: 10.1007/s11684-020-0781-x. Epub 2020 Jul 29.
Minimally invasive surgery, including laparoscopic and thoracoscopic procedures, benefits patients in terms of improved postoperative outcomes and short recovery time. The challenges in hand-eye coordination and manipulation dexterity during the aforementioned procedures have inspired an enormous wave of developments on surgical robotic systems to assist keyhole and endoscopic procedures in the past decades. This paper presents a systematic review of the state-of-the-art systems, picturing a detailed landscape of the system configurations, actuation schemes, and control approaches of the existing surgical robotic systems for keyhole and endoscopic procedures. The development challenges and future perspectives are discussed in depth to point out the need for new enabling technologies and inspire future researches.
微创手术，包括腹腔镜和胸腔镜手术，在改善术后结果和缩短恢复时间方面使患者受益。在上述手术中，手眼协调和操作灵巧性方面的挑战激发了过去几十年中大量发展手术机器人系统来辅助锁孔和内窥镜手术的浪潮。本文对现有用于锁孔和内窥镜手术的手术机器人系统的系统配置、驱动方案和控制方法进行了详细介绍，对其进行了系统的综述。本文深入讨论了发展挑战和未来展望，以指出需要新的使能技术并激发未来的研究。
