机器人辅助针穿刺技术

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摘要 

机器人辅助技术一直是现代外科医学的重要研究课题. 研究机器人辅助针穿刺技术不仅有重要的理论意义，而且在临床上可以有效地提高针穿刺的操作精度和手术质量，因而在微创外科领域具有广泛的应用价值. 本文以刚性针和柔性针为贯穿线索，对已有机器人穿刺系统进行了简要介绍，并针对建模、规划、导航与控制等关键技术进行分析，，较系统地介绍了机器人辅助针穿刺技术领域的研究现状，最后阐述了该领域面临的挑战性问题及未来发展趋势.

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收稿日期: 2013-08-20          

基金资助:

国家自然科学基金（61273356，61273355）资助

通讯作者: 韩建达     E-mail: jdhan@sia.cn

引用本文:   

赵新刚, 杨唐文, 韩建达, 徐卫良. 机器人辅助针穿刺技术. 科学通报, 2013, 58(): 20-27.

ZHAO XinGang, YANG TangWen, HAN JianDa, XU WeiLiang. A review on the robot-assisted needle puncture technology. Chinese Science Bulletin, 2013, 58(): 20-27.

链接本文:  

:8080/CN/10.1360/972013-952      或     :8080/CN/Y2013/V58/I/20

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