从刚性到柔性机器人方法在微创神经外科中的应用
From Rigid to Soft Robotic Approaches for Minimally Invasive Neurosurgery
AI总结：
本文回顾了柔性机器人在微创神经外科中的应用，指出刚柔结合的机器人设计有望解决安全性与复杂性限制，并预计未来5-10年将产生重要影响。
摘要：
机器人辅助已显著改善开放式显微手术和刚性内窥镜手术的预后，然而在柔性内窥镜神经外科领域尚未发挥影响。一些治疗脑积水（hydrocephalus）和肿瘤的最常见颅内手术，有望从能够在脑部深层脑室系统中导航的机器人系统所提供的更高灵巧性和更低侵入性中获益。我们回顾了一系列柔性机器人装置，从传统的高度驱动方法，到更具创新性和生物启发性的安全导航机制。针对每项技术，我们明确了其工作原理，并能够评估其在微创外科应用中的潜力。总体而言，刚性型连续体机器人（continuum robots）的发展最为成熟，然而，将刚性与柔性机器人原理结合为创新装置的方法，在未来的设计演进后，最有望解决安全性和复杂性方面的限制。我们还观察到该领域存在诸多相关挑战，涵盖从外科医生-机器人交互界面到机器人评估流程。从根本上说，这些挑战围绕着在确保机器人装置安全性的前提下，满足辅助和改善手术任务的先决条件。随着创新设计、材料和评估技术的涌现，我们预计在未来5至10年内将看到其产生潜在影响。
英文摘要：
Robotic assistance has significantly improved the outcomes of open microsurgery and rigid endoscopic surgery, however is yet to make an impact in flexible endoscopic neurosurgery. Some of the most common intracranial procedures for treatment of hydrocephalus and tumors stand to benefit from increased dexterity and reduced invasiveness offered by robotic systems that can navigate in the deep ventricular system of the brain. We review a spectrum of flexible robotic devices, from the traditional highly actuated approach, to more novel and bio-inspired mechanisms for safe navigation. For each technology, we identify the operating principle and are able to evaluate the potential for minimally invasive surgical applications. Overall, rigid-type continuum robots have seen the most development, however, approaches combining rigid and soft robotic principles into innovative devices, are ideally situated to address safety and complexity limitations after future design evolution. We also observe a number of related challenges in the field, from surgeon-robot interfaces to robot evaluation procedures. Fundamentally, the challenges revolve around a guarantee of safety in robotic devices with the prerequisites to assist and improve upon surgical tasks. With innovative designs, materials and evaluation techniques emerging, we see potential impacts in the next 5--10 years.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
