Chengdu Second People's Hospital, Chengdu 610000, China.
Krirk University, Bangkok 10019, Thailand.
Comput Intell Neurosci. 2022 Sep 10;2022:9434725. doi: 10.1155/2022/9434725. eCollection 2022.
Minimally invasive surgery has a smaller incision area than traditional open surgery, which can greatly reduce damage to the human body and improve the utilization of medical devices. However, minimally invasive surgery also has disadvantages such as limited flexibility and operational characteristics. The interactive minimally invasive surgical robot system not only improves the stability, safety, and accuracy of minimally invasive surgery but also introduces force feedback in controlling the surgical robot, which is a new development direction in the field of minimally invasive surgery. This paper reviews the development status of interactive minimally invasive surgical robotic systems and key technologies to achieve human-robot interaction and finally provides an outlook and summary of its development. Fuzzy theory and reinforcement learning are introduced into the parameter adjustment process of the variable guide control model, and a human-robot interaction method for minimally invasive surgical robot posture adjustment is proposed.
微创手术的切口面积比传统的开放性手术小，这可以大大减少对人体的损伤，提高医疗器械的利用率。然而，微创手术也有一些缺点，如灵活性和操作性有限。交互式微创手术机器人系统不仅提高了微创手术的稳定性、安全性和准确性，而且在控制手术机器人时引入了力反馈，这是微创手术领域的一个新的发展方向。本文回顾了交互式微创手术机器人系统的发展现状和关键技术，以实现人机交互，并最终对其发展进行了展望和总结。将模糊理论和强化学习引入到可变导控模型的参数调整过程中，提出了一种用于微创手术机器人姿态调整的人机交互方法。
