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Surgical robots are electromechanical systems that assist surgeons in performing surgeries and improve surgical accuracy and controllability. Compared with traditional surgical modes, surgical robots have advantages in operation accuracy, stability, and comfort during the surgical process, and also provide the ability to operate remotely, which is of great value for alleviating the uneven distribution of medical resources. According to the different surgical procedures, surgical robots are subdivided into laparoscopic surgical robots, orthopedic surgical robots, panvascular interventional surgical robots, natural orifice surgical robots, and percutaneous puncture surgical robots[5]。 On the whole, reducing iatrogenic trauma, achieving precise diagnosis and treatment, and reducing the operating load of doctors are the main goals of the development of surgical robots, and the robot ontology design, control, and human-computer interaction technology will support the performance improvement and functional expansion of surgical robots.
Laparoscopic surgical robots are the most commercialized category in the field of surgical robots, and the applicable surgical methods are basically the same as traditional minimally invasive surgery, and can be widely used in urology, gynecology, general surgery, etc. This type of system is composed of a surgeon console, a patient's bedside robotic arm system, and a 3D high-definition imaging module, and adopts the master-slave remote operation mode[6,7]According to the number of access holes, it is divided into two types: multi-hole and single-hole[8]It has the advantages of minimally invasive, high operation refinement, strong movement flexibility, and good tremor filtration effect[9]。
In terms of multi-hole laparoscopic surgical robots, the internationally representative product is Intuitive Surgical's da Vinci surgical robot, which has completed more than 1.4×10 laparoscopic surgeries7Example[10]； The terminal instrument has the characteristics of high degree of freedom, can complete fine operations such as suturing and ligation, and the motion zoom function can effectively avoid the impact of hand tremors on surgical accuracy, and has excellent performance in multi-department surgery. Domestic products mainly include "Miaoshou S" led by Tianjin University[11], Shanghai Minimally Invasive Medical Robot (Group) Co., Ltd. developed "Tumai"[12], MP1000 developed by Shenzhen Jingfeng Medical Technology Co., Ltd[13]etc., have entered the clinical application stage and are accelerating the commercialization process.
In terms of single-port laparoscopic surgical robots, the internationally representative products are the da Vinci surgical robot SP system of Intuitive Surgical, and the domestic products mainly include the serpentine arm single-hole robot developed by Beijing Shurui Robot Co., Ltd., the "Tumai" single-hole surgical robot developed by Shanghai Minimally Invasive Medical Robot (Group) Co., Ltd., and the single-hole surgical robot SP1000 developed by Shenzhen Jingfeng Medical Technology Co., Ltd. The clinical application of related surgical robots has gradually expanded from core departments to multidisciplinary fields, such as urology has become a new main application direction, gynecology, general surgery, and thoracic surgery have mature application scenarios, and emerging fields such as pediatric surgery have also achieved technology adaptation and clinical implementation.
In terms of the popularization and application of laparoscopic robots, the global market is mainly dominated by international brands, and domestic products have also achieved clinical transformation and commercialization after technological breakthroughs, gradually breaking the market monopoly pattern. Domestic popularization is characterized by uneven regional distribution, and the application of high-quality medical resources is more widely used in areas where high-quality medical resources are concentrated, while the application of primary medical institutions is in its infancy. Benefiting from factors such as the inclusion of medical insurance policies and the improvement of the technical training system, related applications are penetrating into a wider range of medical scenarios, and clinical accessibility is steadily improving.
Orthopedic surgical robots are an important branch in the commercialization process of surgical robots, mainly for spine surgery, joint replacement and other procedures, and can assist surgeons to complete core operations such as pedicle screw implantation and artificial joint replacement. The system is composed of preoperative planning software, intraoperative navigation system, and robotic arm operation platform, and realizes automatic or semi-automated operation through precise image guidance and navigation positioning[14], which has the advantages of high positioning accuracy, strong operation stability, reduced intraoperative radiation exposure, and minimally invasive[15]。
Internationally renowned products include Mako of Stryker Company and ROSA of Zimmer Biomet Company of the United States[16]。 Domestic products mainly include TiRobot spine surgery robot of Beijing Tianzhihang Medical Technology Co., Ltd., Arthrobot joint surgery robot of Hangzhou Jianjia Medical Technology Co., Ltd., and Hurwa orthopedic navigation robot of Beijing and Huaruibo Medical Technology Co., Ltd., which have accumulated a large surgical sample size and continued to deepen the commercialization process.
Panvascular interventional surgery robots focus on the precise interventional treatment of cardiovascular, cerebrovascular and peripheral vascular diseases[17], for coronary artery stent implantation, cerebral aneurysm embolization and other procedures, assist in key operations such as vascular access establishment and guidewire catheter manipulation[18,19]。 The system is composed of a three-dimensional angiography fusion module, a remote intelligent control platform, and an automated instrument operation unit, which relies on image navigation and path planning to improve the intelligence and precision of the surgical process, and has the advantages of reducing radiation damage to surgeons, improving the success rate of surgery for complex lesions, and reducing operational deviations.
Internationally renowned products include CorPath GRX from Siemens Medical Systems GmbH in Germany[20], Robocath R-One panvascular interventional surgery robot[21]。 Domestic products mainly include Suzhou Runmed Medical Technology Co., Ltd.'s FlashBot, Sino VIA Technology (Beijing) Co., Ltd.'s sROBOT and other panvascular interventional surgical robots, which have shown application value in clinical research.
The natural cavity surgery robot reaches the target lesion through the natural cavity of the human body such as the digestive tract and respiratory tract, and implements minimally invasive treatment without body surface incision. It is suitable for complex procedures such as gastric and transbronchial procedures, and can assist in completing tissue resection, biopsy and other operations. The system is composed of a multi-degree-of-freedom flexible robotic arm, a high-definition imaging module, a master-slave remote operation platform, and an intelligent path planning subsystem, which breaks through the flexibility limitations of traditional endoscopy with the help of continuum mechanism design, and has the advantages of minimal surgical trauma, fast postoperative recovery, high accessibility of operating space, and reduced doctors' fatigue[22]。
Internationally renowned products include Intuitive Surgical's Ion bronchial robot, Johnson & Johnson's Monarch bronchial robot, MedRobotics Flex digestive tract robot, etc[23]。 Shanghai Minimally Invasive Medical Robot (Group) Co., Ltd. and Shenzhen Jingfeng Medical Technology Co., Ltd. are developing bronchoscopic robots, and Guangzhou Qiaojieli Medical Technology Co., Ltd. and Shenzhen Robb Medical Technology Co., Ltd. are developing digestive tract surgical robots[24,25]。
The percutaneous puncture surgical robot penetrates the body through the percutaneous route and reaches the target lesion to perform precise puncture diagnosis and treatment. Percutaneous puncture for tissues and organs such as lungs and liver can assist in biopsy, tumor ablation and other operations[26]。 The system is composed of a multi-degree-of-freedom robotic arm, a medical image navigation module, a master-slave control platform, and a puncture path planning subsystem, which breaks through the accuracy limitations of manual puncture with the help of robot positioning and navigation technology, and has the advantages of high puncture accuracy, low surgical risk, good operation consistency, and reduced radiation exposure to doctors.
The internationally renowned products are the IG4 magnetic navigation puncture system of Veran company in the United States[27], Israel's XACT ACE needle-holding puncture robot, etc. The TH-S1 puncture navigation and positioning system of True Health (Beijing) Medical Technology Co., Ltd. and the uInterv-C550 master-slave puncture robot of Wuhan United Imaging Zhirong Medical Technology Co., Ltd. have been certified by the State Medical Products Administration, filling the domestic technical gap in many clinical fields and accelerating the localization process of percutaneous puncture surgical robots[28]。
Rehabilitation robots refer to mechanical equipment or robotic systems specifically designed and manufactured for rehabilitation treatment. Mostly based on neuroplasticity theory[29], motor relearning theory, mirror neuron theory[30]Carry out the design and development of rehabilitation robots to support patients in recovering or improving impaired body functions. Rehabilitation robots have the inherent advantages of mechanical equipment and can perform high-intensity, high-repetitive training, freeing doctors from heavy and repetitive training. Various sensors configured in the rehabilitation robot are used to measure the patient's kinematic, kinetic, and physiological data to promote the optimization and improvement of the rehabilitation program. Design an interactive system to motivate patients' willingness to take the initiative to exercise, increase the interest of rehabilitation training, improve patients' confidence in rehabilitation, and improve the efficiency and effect of rehabilitation[31]。
The research of rehabilitation robots began in the 50s of the 20th century and was initially mainly used to assist self-movement for people with physical disabilities. With the development of rehabilitation medicine theory, related research has shifted from rehabilitation nursing to rehabilitation training robots, focusing on the recovery and remodeling of brain motor function. MIT-MANUS, developed by the Massachusetts Institute of Technology in the United States, is the first rehabilitation robot to truly enter clinical application, which pulls the patient's upper limbs to move through the end handle to achieve shoulder and elbow rehabilitation training. Subsequently, the form of the rehabilitation robot developed from the end effector to the exoskeleton, and the target rehabilitation parts also developed from the upper limb to the lower limb to the hand, ankle joint, knee joint, etc[32]。 In recent years, with the development of AI technology and neuroscience, rehabilitation robots have become the main application carriers of brain-computer interfaces, such as driving exoskeleton robots/electrical stimulation after decoding the patient's movement intention[33]to achieve active rehabilitation[34], based on EEG signals, language prostheses are constructed to "restore" the ability to speak, write and other things for patients[35,36]。 Although rehabilitation robots are developing rapidly, problems such as mismatch between mechanical and biological joints, weak perception ability, lack of independent learning ability, and insufficient prediction of rehabilitation efficacy still exist, which restricts the comfort and intelligence level of rehabilitation robots[37,38]。 Relevant research is mainly carried out from two aspects: embodied intelligence and rehabilitation theory: the former is reflected in deformation design, multimodal perception and fusion, autonomous learning, and rehabilitation efficacy evaluation and prediction, while the latter is reflected in motor cognition and cognition rehabilitation, and the rehabilitation mechanism after the application of brain-computer interface.
Design the deformation mechanism to improve the matching between the mechanical joints and the biological joints of the rehabilitation robot[39], improve the comfort of rehabilitation robot applications. Simultaneously measure multimodal signals such as EEG, EMG, and motion signals, analyze the patient's neural activity, muscle contraction, and limb movement physiological parameters during the rehabilitation process, and support dynamic monitoring and state recognition of rehabilitation training status[40]。 Establish the human-computer interaction interface and closed-loop control strategy of "brain\muscle\motor \u2012-machine"[41], to realize multi-modal perception and fusion of natural human-computer interaction control[42]to improve the intelligence level of rehabilitation robots. Apply virtual reality technology to design virtual scenes to support patients to interact with other elements in the virtual scene in real time; In rehabilitation training, through visual, auditory and other sensory stimuli feedback and precise tactile feedback[43]Integration, strengthen the patient's collaborative control ability, improve the fun of the rehabilitation process, enhance the patient's active participation and expand the training information. Construct a closed-loop control spinal cord electrical stimulation system, integrate with a variety of rehabilitation robots, and accurately control the electrical stimulation mode according to gait or cycling rhythm, so that muscle contraction is closer to the natural walking state, enhance autonomous movement ability, and reduce dependence on robot assistance[44]。 In addition, the upgraded rehabilitation robot technology based on new rehabilitation theory, reducing the quality of rehabilitation robots, increasing the battery life, reducing equipment costs, and improving adaptability to different pathological conditions are also important aspects of the development of rehabilitation robots.
Diagnostic robot is a robotic system that assists doctors in health monitoring and disease diagnosis, integrating machine learning, machine vision, sensors, AI technology, etc., relying on a large amount of medical data to quickly and accurately provide diagnostic support for doctors, mainly divided into micro in vivo robots and diagnostic systems combined with AI technology. In the 70s of the 20th century, the University of Leeds in the United Kingdom developed the AAPHelp system for the auxiliary diagnosis of severe abdominal pain. Subsequently, MYCIN developed by Stanford University in the United States for the diagnosis of infectious diseases, DX plain developed by Harvard Medical School, and Quick Medical Reference developed by Open Clinical are also representative diagnostic robots. At present, AI, deep learning and other technologies are developing rapidly, and the ability of diagnostic robots to process medical data has been greatly improved, providing important support for intelligent diagnosis, and significant progress has been made in medical image analysis, treatment plan optimization, personalized treatment, and disease diagnosis based on electrophysiological information.
Micro in vivo robots are most representative of capsule robots. The capsule robot reaches the gastrointestinal lesion area orally and performs medical functions, supporting painless and non-invasive diagnosis and treatment of gastrointestinal diseases, and has good patient compliance. In 2001, capsule robots began to be commercialized, and then became the "gold standard" for comprehensive screening of the small intestine, which is widely used in the diagnosis of gastrointestinal diseases. Although capsule robots have advantages in terms of ease of use and diagnostic sensitivity, they are subject to the limited capsule space structure and complex gastrointestinal environment, and the corresponding ontology structure design, active movement ability, positioning and navigation ability are all facing technical challenges in the application needs of miniaturization and functionality. It can be designed through internal magnetization structure and external drive strategy[45], improve the environmental adaptability and positioning accuracy of the capsule robot.
In terms of diagnostic systems combined with AI technology, medical image analysis is the main application scenario, and AI has shown a level that surpasses human experts[46]。 After learning a large amount of image data, the diagnostic robot can automatically identify small lesions and give more accurate diagnostic results. Super-resolution reconstruction of medical images based on deep learning algorithms can significantly improve the clarity, diagnostic efficiency and accuracy of medical images[47]。 Based on the patient's genetic information, the sensitivity to specific chemotherapy drugs is evaluated to provide doctors with optimal treatment recommendations[48]； With the help of reinforcement learning methods and based on patient feedback, medication dosage and treatment plans can be adjusted in real time to improve the personalization and effectiveness of treatment. Diagnostic robots can act as "health assistants" for patients, regularly monitoring changes in their condition, reminding patients to take their medications on time, and giving lifestyle guidance[49]； Natural language processing is used to analyze patients' medical records, extract information such as symptoms and medical history to support disease diagnosis[50]。 In terms of functional detection, the diagnostic robot is equipped with biochemical sensors and sensing technologies such as electrocardiogram and electroencephalogram to collect physiological data of patients in real time[51], based on AI technology to quickly identify potential disease risks[52]。 Of course, diagnostic robots still have data dependence problems, coupled with the difficulty of obtaining high-quality labeled data and the insufficient fusion accuracy of multimodal perception data, it is necessary to explore transfer learning, deep learning and other methods that are deeply combined with professional knowledge.
Other medical robots mainly perform non-therapeutic medical tasks, covering assistance and nursing, disinfection and cleaning; Relying on intelligent technology, it can replace manual auxiliary medical work, effectively improve the efficiency of medical services and enhance safety, and also promote robotics technology to extend from core treatment scenarios such as surgery to full-process services, accelerating the standardization process of medical robots.
In terms of disinfection robots, the D1 epidemic prevention robot of South Korea's HD Hyundai Robotics Company adopts a "plasma + shortwave ultraviolet (UVC)" mixed disinfection scheme, which releases ozone concentrations much lower than the safety standard (0.001 7 ppm), and is widely used in intensive care wards and negative pressure wards[53]； The Ruiman disinfection service robot of Shanghai Gongbo Artificial Intelligence Technology Co., Ltd. combines UVC with spray volume control to perform high-quality disinfection operations[54]。 In the patient transport scenario, the medical transport robot realizes contactless transfer between the hospital bed, operating table, and computed tomography (CT) by carrying a robotic arm[55]。 Dietary care robots are used to assist disabled patients in eating, and their application in nursing institutions is increasing year by year[56]。 The material distribution robot integrates mobile communication, AI, and unmanned driving technology, can be equipped with multiple types of materials in different areas, and carry out cross-floor autonomous obstacle avoidance distribution with the support of lidar and three-dimensional vision sensors to improve distribution efficiency[57]。
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BNS0812A+120L THK 2LBS30UU+873L THK LTR20UU+400L LTR25KUU+400L THK SS15+800L
LBST20UU+440L THK LTR50UU+400LK LTR50UUZZCM+400LHN LT60UUCL+630LHK-Z 4LT4X+138L LT4XUS+84LPF 4LT4X+116.6L 4LT4X+107L 4LT4X+90L LT4XUU+40L 2LT4XUUCLS+88LH
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Rodamiento lineal Rodamiento lineal de precisión micrométrica Cojinete lineal Rodamiento lineal estándar Rodamiento lineal de alta carga
المحمل الخطي
المحمل الخطي عالي الدقة
المحمل المستقيم
المحمل الخطي المعياري الدولي
المحمل الخطي الخفيف التحميل
Rolamento linear Rolamento linear de rolagem Cojinete linear Rolamento linear padrão Rolamento linear industrial Rolamento linear de precisão alta
Прямой подшипник Прямой подшипник военного стандарта Подшипник прямой Прямой подшипник высокой нагрузки Прямой подшипник легкой нагрузки
直線軸受 超精密直線軸受 リニアベア 大型リニアベアリング 直線受け 軽荷重リニアベアリング
Linearlager Linearlager für Automobilbau Linearlager standard Präzisions-Linearlager
Linear-Lager Hochlast-Linearlager Roulement linéaire Roulement linéaire aéronautique Roulement droit Roulement linéaire à rouleaux Roulement linéaire standard Roulement linéaire à faible charge
ลินিয়াร์แบร์ทริ้ง ลินিয়াร์แบร์ทริ้งความแม่นยำสูง แบร์ทริ้งลิน ลินিয়াร์แบร์ทริ้ง ลินিয়াร์แบร์ทริ้งมาตรฐานสากล ส่วนลินিয়াร์แบร์ทริ้ง ลินিয়াร์แบร์ทริ้งรับน้ำหนักสูง（Liniyae baebring ráp náam-nạk s̄ūng）
Vòng bi trượt thẳng Vòng bi trượt thẳng độ chính xác cao Vòng bi thẳng Vòng bi trượt thẳng loại lăn Vòng bi thẳng hỏng Vòng bi thẳng tải nhẹ
리니어 베어링 직선축수 산업용 리니어 베어링 리니어 베어 초정밀 리니어 베어링 리니어 베어링 마모품 자동차용 리니어 베어링
