State of the Art and Development Trend of Laparoscopic Surgical Robot and Master Manipulator

摘要

BACKGROUND: In recent years, laparoscopic surgical robots have rapidly developed. However, most focus on the overall robotic systems, with few summaries on the laparoscopic surgical robots and the master manipulators. METHODS: This paper provides a summary and analysis of typical laparoscopic surgical robots, including the strengths and limitations of existing laparoscopic surgical robots. Additionally, the master manipulators are analysed and summarised from four aspects: structural design and optimization, time-varying delays, tremor suppression and force feedback. Further classification and summary are made based on the different methods used in each study. RESULTS: Laparoscopic surgical robots and the master manipulators still have some limitations. Therefore, the development trends of the laparoscopic surgical robots and the master manipulators are discussed from four aspects: structural materials, remote surgery, intelligence and human-machine interaction. CONCLUSION: With the continuous advancement of technology, laparoscopic surgical robots will play an increasingly important role in the field of surgery.