PDF(Pubmed)
Abstract：
Surgical robotics application in the field of minimally invasive surgery has developed rapidly and has been attracting increasingly more research attention in recent years. A common consensus has been reached that surgical procedures are to become less traumatic and with the implementation of more intelligence and higher autonomy, which is a serious challenge faced by the environmental sensing capabilities of robotic systems. One of the main sources of environmental information for robots are images, which are the basis of robot vision. In this review article, we divide clinical image into direct and indirect based on the object of information acquisition, and into continuous, intermittent continuous, and discontinuous according to the target-tracking frequency. The characteristics and applications of the existing surgical robots in each category are introduced based on these two dimensions. Our purpose in conducting this review was to analyze, summarize, and discuss the current evidence on the general rules on the application of image technologies for medical purposes. Our analysis gives insight and provides guidance conducive to the development of more advanced surgical robotics systems in the future.
摘要：
近年来，手术机器人在微创外科领域的应用发展迅速，受到越来越多的研究关注。人们已经达成共识，即外科手术将减少创伤，并实施更多的智慧和更高的自主性，这是机器人系统环境感知能力面临的严峻挑战。机器人环境信息的主要来源之一是图像，这是机器人视觉的基础。在这篇评论文章中，根据信息获取的对象将临床图像分为直接图像和间接图像,并成为连续的，间歇连续,并且根据目标跟踪频率不连续。基于这两个维度介绍了现有手术机器人在各个范畴的特点和应用。我们进行这次审查的目的是分析，总结，并讨论当前关于医学应用图像技术的一般规则的证据。我们的分析提供了见解，并为将来开发更先进的手术机器人系统提供了指导。
