Parallel surgical robots

Tianxiang BAI; Shuangyi WANG; Yating LIU; Hanzhong LI; Yi WEN

doi:10.11959/j.issn.2096-6652.202319

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Parallel surgical robots

Special Topic: Frontier of R＆D in Parallel Intelligence | 更新时间：2024-04-04

- Parallel surgical robots
- Chinese Journal of Intelligent Science and Technology Vol. 5, Issue 2, Pages: 222-233(2023)
- 作者机构：
  
  1. 中国科学院自动化研究所，北京 100190
  2. 航天科工集团智能科技研究院有限公司，北京 100043
  3. 北京协和医院，北京 100730
  4. 北方自动控制技术研究所，山西太原 030006
  5. 北京怀柔平行传感智能研究院，北京 101400
  6. 中国科学院自动化研究所北京市智能化技术与系统工程技术研究中心，北京 100190
- 作者简介：
- 基金信息：
  
  The National Natural Science Foundation of China(61533019)
- DOI：10.11959/j.issn.2096-6652.202319
  CLC： TP29
- Revised：2023-05-26，
  
  Online First：2023-06，
  
  Published：15 June 2023
- 稿件说明：
移动端阅览
Tianxiang BAI, Shuangyi WANG, Yating LIU, et al. Parallel surgical robots[J]. Chinese Journal of Intelligent Science and Technology, 2023, 5(2): 222-233.
DOI：

Tianxiang BAI, Shuangyi WANG, Yating LIU, et al. Parallel surgical robots[J]. Chinese Journal of Intelligent Science and Technology, 2023, 5(2): 222-233. DOI： 10.11959/j.issn.2096-6652.202319.

摘要

医疗机器人对于提高医疗效率，减轻患者痛苦，具有重要的社会意义和科研价值。针对医疗机器人的难点，提出了基于ACP平行系统方法的平行医疗机器人概念。平行医疗机器人主要由物理医疗机器人和虚拟医疗机器人组成，通过并联医疗机器人可以实现对整个系统进行管理和控制，对治疗过程进行实验和评估，对医生和患者进行学习和培训。介绍了支撑平行医疗机器人的相关技术，包括机器人仿真、生物力学、3D打印和知识自动化技术等，并结合平行学习提出平行医疗机器人所应具备的描述、预测和处方三大核心功能。最后，以机器人经食管超声系统展示了平行医疗机器人的典型应用。

Abstract

Medical robots improve medical efficiency and reduce patients’ suffering that owns social significance and scientific research value.Focusing on the difficulties of medical robots

we propose the concept of parallel medical robotics based on the ACP (artificial societies

computational experiments

parallel execution)-based parallel system method.parallel medical robot is mainly composed of a physical medical robot and its virtual counterpart

through which we can realize the management and control for the overall system

conduct experiments and evaluation for the treatment process

and learning and training for doctors and patients.Parallel medical robotics is supported by robot simulation

biomechanism

3D printing and knowledge automation techniques

and holds three core functions that are descrition

prediction and prescription when combined with parallel learning.We demonstrate the framework and its potential usages with a robotic trans-esophageal ultrasound system.

关键词

Keywords

references

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