平行医疗机器人

doi:10.11959/j.issn.2096-6652.202319

智能科学与技术学报 ›› 2023, Vol. 5 ›› Issue (2): 222-233.doi: 10.11959/j.issn.2096-6652.202319

• 专题：平行智能研究前沿 • 上一篇下一篇

平行医疗机器人

白天翔¹^,², 王双翌¹, 刘雅婷¹^,², 李汉忠³, 闻艺⁴^,⁵^,⁶

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

修回日期:2023-05-26 出版日期:2023-06-15 发布日期:2023-06-10
作者简介:白天翔（1991- ），男，航天科工集团智能科技研究院有限公司工程师，主要研究方向为群体智能博弈、强化学习、人机协同等
王双翌（1991- ），男，中国科学院自动化所研究员，主要研究方向为医疗机器人和计算机辅助手术
刘雅婷（1992- ），女，博士，航天科工集团智能科技研究院有限公司工程师，主要研究方向为计算机视觉、多目标跟踪、轨迹预测等
李汉忠（1951- ），男，北京协和医院泌尿外科教授、博士生导师，泌尿外科学术带头人、国务院政府特殊津贴获得者。北京协和医学院外科学系主任，香港大学医学部荣誉教授。科鹏外科经自然通道手术机器人创始人，成功研发经自然通道手术机器人系列产品
闻艺（1961- ），男，北方自动控制技术研究所资深研究员，主要研究方向为平行系统、平行智能、社会计算、知识自动化
基金资助:
国家自然科学基金项目(61533019)

Parallel surgical robots

Tianxiang BAI¹^,², Shuangyi WANG¹, Yating LIU¹^,², Hanzhong LI³, Yi WEN⁴^,⁵^,⁶

¹ Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
² Intelligent Science ＆Technology Academy of CASIC,Beijing 100043, China
³ Peking Union Medical College Hospital, Beijing 100730, China
⁴ North Automatic Control Technology Institute, Taiyuan 030006, China
⁵ Beijing Huairou Academy of Parallel Sensing, Beijing 101400, China
⁶ Beijing Engineering Research Center of Intelligent Systems and Technology, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China

Revised:2023-05-26 Online:2023-06-15 Published:2023-06-10
Supported by:
The National Natural Science Foundation of China(61533019)

摘要/Abstract

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。

关键词: 平行机器人, 医疗机器人, 平行学习, 平行控制

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.

Key words: parallel robotics, surgical robot, parallel learning, parallel control

中图分类号:

TP29

白天翔, 王双翌, 刘雅婷, 等. 平行医疗机器人[J]. 智能科学与技术学报, 2023, 5(2): 222-233.

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

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平行医疗机器人

Parallel surgical robots

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