Microsurgery Robots: Applications, Design, and Development
Author:
Wang Tiexin12, Li Haoyu1, Pu Tanhong1, Yang Liangjing123ORCID
Affiliation:
1. ZJU-UIUC Institute, International Campus, Zhejiang University, Haining 314400, China 2. School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China 3. Department of Mechanical Engineering, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA
Abstract
Microsurgical techniques have been widely utilized in various surgical specialties, such as ophthalmology, neurosurgery, and otolaryngology, which require intricate and precise surgical tool manipulation on a small scale. In microsurgery, operations on delicate vessels or tissues require high standards in surgeons’ skills. This exceptionally high requirement in skills leads to a steep learning curve and lengthy training before the surgeons can perform microsurgical procedures with quality outcomes. The microsurgery robot (MSR), which can improve surgeons’ operation skills through various functions, has received extensive research attention in the past three decades. There have been many review papers summarizing the research on MSR for specific surgical specialties. However, an in-depth review of the relevant technologies used in MSR systems is limited in the literature. This review details the technical challenges in microsurgery, and systematically summarizes the key technologies in MSR with a developmental perspective from the basic structural mechanism design, to the perception and human–machine interaction methods, and further to the ability in achieving a certain level of autonomy. By presenting and comparing the methods and technologies in this cutting-edge research, this paper aims to provide readers with a comprehensive understanding of the current state of MSR research and identify potential directions for future development in MSR.
Funder
International Campus of Zhejiang University Yanjia Technology LTD, Shanghai, China
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
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