血管腔内介入手术机器人与手术机器人在操作器具和机械手方面存在显著差异。血管腔内介入手术 机器人的研究经历了从使用专用血管腔内器具到商品化通用血管腔内器具的发展过程，只有更多地应用商品化血管 腔内器具才能完成更多的手术程序，并适用更多种类的血管腔内介入手术。而具有一定的力反馈、视觉反馈、半自 动性和导航功能，将是未来血管腔内介入手术机器人的发展方向。

There are significant differences between the endovascular intervention robot and the surgical robot in operating instruments and manipulators. The endovascular intervention robot developed from manipulating customized endovascular intervention devices to commercialized universal endovascular intervention devices, which indicates that only more commercialized endovascular intervention instruments and devices applied, more operation procedures could be finished to complete various endovascular intervention surgeries. Certain force touch feedback, visual feedback, semi-automatic functions and navigation functions of endovascular intervention robot shall be emphatically developed in future.

收稿日期：2020-03-02  录用日期：2020-05-21 

Received Date: 2020-03-02  Accepted Date: 2020-05-21 

基金项目：国家科技创新 2030-“新一代人工智能”重大项目，名称：血管介入手术机器人关键技术研究（2018AAA0102603）； 2019年上海市卫生健康委员会医学领军人才计划项目，名称：基于机器人技术的主动脉扩张性疾病精准微创腔内治疗（2019LJ17）； 军队后勤项目，名称：战时心血管伤机器人辅助介入救治的技术研究（16QNP094） 

Foundation Item: National Science and Technology Innovation 2030-“New Generation Artificial Intelligence”Major Project, Research on key technologies of endovascular interventional surgery robot (2018AAA0102603)；2019 Medical Leading Talents Program of Shanghai Health Commission, Robot-based precision minimally endovascular treatment for aortic dilatation disease (2019LJ17)；Military Logistics Project, Technical research on robot assisted interventional endovascular treatment of cardiovascular injuries in wartime (16QNP094) 

引用格式：陆清声. 血管腔内介入手术机器人的特点和未来发展方向 [J]. 机器人外科学杂志，2020，1（4）：231-235. 

Citation: LU Q S. Characteristics and future development of endovascular intervention robot [J]. Chinese Journal of Robotic Surgery, 2020,1(4):231-235.

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