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2020年 第14卷 第4期

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《医学前沿（英文）》 >> 2020年 第14卷 第4期 doi: 10.1007/s11684-020-0781-x

Review of surgical robotic systems for keyhole and endoscopic procedures: state of the art and perspectives

. State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China.. RII Lab (Lab of Robotics Innovation and Intervention), UM-SJTU Joint Institute, Shanghai Jiao Tong University, Shanghai 200240, China.. Department of Urology, Shanghai Changhai Hospital, the Second Military Medical University, Shanghai 200433, China.. Shanghai Lung Cancer Center, Shanghai Chest Hospital, Shanghai Jiao Tong University, Shanghai 200030, China

收稿日期： 2020-06-28 录用日期： 2020-07-27 发布日期： 2020-07-27
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Minimally invasive surgery, including laparoscopic and thoracoscopic procedures, benefits patients in terms of improved postoperative outcomes and short recovery time. The challenges in hand–eye coordination and manipulation dexterity during the aforementioned procedures have inspired an enormous wave of developments on surgical robotic systems to assist keyhole and endoscopic procedures in the past decades. This paper presents a systematic review of the state-of-the-art systems, picturing a detailed landscape of the system configurations, actuation schemes, and control approaches of the existing surgical robotic systems for keyhole and endoscopic procedures. The development challenges and future perspectives are discussed in depth to point out the need for new enabling technologies and inspire future researches.

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