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摘要 

機(jī)器人輔助技術(shù)一直是現(xiàn)代外科醫(yī)學(xué)的重要研究課題. 研究機(jī)器人輔助針穿刺技術(shù)不僅有重要的理論意義，而且在臨床上可以有效地提高針穿刺的操作精度和手術(shù)質(zhì)量，因而在微創(chuàng)外科領(lǐng)域具有廣泛的應(yīng)用價值. 本文以剛性針和柔性針為貫穿線索，對已有機(jī)器人穿刺系統(tǒng)進(jìn)行了簡要介紹，并針對建模、規(guī)劃、導(dǎo)航與控制等關(guān)鍵技術(shù)進(jìn)行分析，，較系統(tǒng)地介紹了機(jī)器人輔助針穿刺技術(shù)領(lǐng)域的研究現(xiàn)狀，最后闡述了該領(lǐng)域面臨的挑戰(zhàn)性問題及未來發(fā)展趨勢.

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收稿日期: 2013-08-20          

基金資助:

國家自然科學(xué)基金（61273356，61273355）資助

通訊作者: 韓建達(dá)     E-mail: jdhan@sia.cn

引用本文:   

趙新剛, 楊唐文, 韓建達(dá), 徐衛(wèi)良. 機(jī)器人輔助針穿刺技術(shù). 科學(xué)通報, 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.

鏈接本文:  

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

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