本项目针对传统人工经尿道膀胱肿瘤切除手术操作灵活性差、精度低、切除不彻底易复发等问题，以及现有手术机器人微型化困难、装配误差大、单臂多器械造成运动耦合与视觉遮挡、缺乏传感反馈导致精度和安全性低等不足，研究一种适用于经细长通道进入狭小空间开展精准操作的微细连续体多臂手术机器人。基于降维设计思想提出“机-驱-感-电”一体化二维层叠制造与免装配自展开方法，解决连续体机器人的微型化难题。提出融合分布式传感信息的机器人形、位、力感知，解决传统连续体机器人因缺乏反馈而不精确、不安全的问题。提出多臂协作开展安全精准的肿瘤“整体切除术”的机器人手术新技术，解决传统“分块刮除术”易导致肿瘤细胞扩散引起复发的问题。提出微型压电动态触觉硬度传感器及机器人自主触诊探测肿块技术，保障术后高效、准确、全面地评估肿瘤切除彻底性。本研究对于推动我国高端医疗装备发展具有重大意义。

This project is aimed at the problems of poor flexibility, low precision, incomplete resection and recurrence of traditional manual transurethral resection of bladder tumors. It also works on issues faced by existing surgical robots, such as the difficulty of miniaturization, large assembly error, motion coupling and visual obstruction caused by single-arm multi-instruments configuration, and the low precision and safety due to lack of sensory feedback. A micro-continuum multi-arm surgical robot suitable for precise and accurate operation in deep and confined spaces through narrow channels is proposed. Based on the dimensionality-reduction design, a two-dimensional laminated manufacturing and assembly-free self-folding method for integrated structure-actuator-sensor-circuit systems is proposed to solve the miniaturization problem of continuum robot. The method of shape, position and force sensing by fusion of distributed sensor information is proposed, which solves the problem of low accuracy and safety of traditional continuum robots due to lack of feedback. A new robotic surgery technique with multi-arm collaboration to carry out safe and accurate tumor "en-bloc resection" is proposed to solve the problem that the traditional "piecemeal resection" causes spread of tumor cells which results in tumor recurrence. A miniature piezoelectric dynamic tactile hardness sensor and a robotic autonomous lump palpation technique are proposed to ensure efficient, accurate and complete evaluation of tumor resection. This research is of great significance for promoting the development of high-end medical equipment in China.