Medical Technologies and Challenges of Robot-Assisted Minimally Invasive Intervention and Diagnostics
Medical Technologies and Challenges of Robot-Assisted Minimally Invasive Intervention and Diagnostics
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DOI：
10.1146/annurev-control-060117-104956
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发表时间：
2018-01-01
期刊：
影响因子：
--
通讯作者：
Wang, Long
中科院分区：
文献类型：
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作者：
Simaan, Nabil;Yasin, Rashid M.;Wang, Long
新兴范例将医疗技术进一步深入人体解剖学，这带来了独特的建模、控制和传感问题。这篇综述简要介绍了医疗机器人技术的历史，引领了当前密闭空间微创干预和诊断的趋势。我们讨论用于自然孔道和单端口手术的机器人技术、胶囊和磁驱动机器人技术以及微型机器人技术，旨在阐明现有技术。我们还讨论了自然孔道和单端口手术机器人机械架构的建模、传感和控制方面的工作，然后讨论了胶囊机器人和微型机器人的磁驱动、传感和定位方面的工作。最后，我们提出了每个领域的挑战和未解决的问题。
Emerging paradigms furthering the reach of medical technology into human anatomy present unique modeling, control, and sensing problems. This review provides a brief history of medical robotics, leading to the current trend of minimally invasive intervention and diagnostics in confined spaces. We discuss robotics for natural orifice and single-port access surgery, capsule and magnetically actuated robotics, and microrobotics, with the aim of elucidating the state of the art. We also discuss works on modeling, sensing, and control of mechanical architectures of robots for natural orifice and single-port access surgery, followed by works on magnetic actuation, sensing, and localization for capsule robotics and microrobotics. Finally, we present challenges and open problems in each of these areas.