穿刺手术机器人技术发展综述

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中图分类号 TP242.6 R608 文献标识码A 文章编号 2096-7721（2025）07-1069-11

AbstractPercutaneoussurgicalrobotsaregraduallyevolvingtowardgreaterautonomyandinteligene.Domesticandinteational percutaneousroboticsurgicalsystemandtechnicalapproachesarereviewedinthispaperbasedontheirrolesinsurgical procedures andthedegr ofpunctureautonomy.Thisreviewdiscuses thekeytechnologicaladvancementsin“perception-plang-control" intheprocessofneedepuncture，aswellasnavigationandontrolofpercutaneousrobots.Thehallengesfacingperutaneousrobotic technology are systematically analyzed and summarized.

Key WordsPuncture Robot; Autonomization; Perception and Planning; Navigation and Control

经皮穿刺手术广泛应用于肺、肝、前列腺等全身多部位组织器官[-7，通常在医学图像的引导下，使用穿刺针经皮刺入体内靶点，建立经皮通道，进行活检取样、肿瘤消融等多种诊断和治疗。（剩余25240字）