随着外科手术微创化的发展，达芬奇机器人手术系统已被应用于多种心脏外科手术。该系统融合了人工智能的研究成果，具有 3D 高清术野、动作缩放、机械臂灵活、震颤过滤、操作稳定、创伤小等优点，且能缓解医护人员疲劳。外科手术机器人为心脏外科手术的快速化、精准化、微创化提供了新的思路和途径，代表了微创心脏外科的发展方向。但达芬奇机器人手术系统作为通用型腔镜手术机器人，在心外科的应用也面临系统复杂、操作时间长、缺乏触觉反馈、总体费用昂贵等不足和挑战。本文主要阐述了达芬奇机器人手术系统在心脏外科领域应用的优势、安全性、有效性及在推广、应用过程中存在的问题，并对其未来的发展前景进行了展望，期望可以为机器人手术系统在心脏外科的应用提供帮助。

With the development of minimally invasive surgery, Da Vinci surgical system has been applied to a variety of cardiac surgeries. By integrating the latest AI technology, it has the advantages of 3D high-definition field, motion scaling, flexible manipulator, tremor filtering, stable operation, less trauma and so on. Surgical robot not only provides new ideas and ways of speed, precision and minimally invasive surgery for cardiac surgery, but also represents the development direction of minimally invasive cardiac surgery. However, as a universal endoscopic surgical robot, Da Vinci surgical system also faces shortcomings and challenges in cardiac surgery, such as complicated system, prolonged time of operation, lacking of tactile feedback, high cost and so on. This paper mainly expounds the advantages, safety and effectiveness of the application of Da Vinci surgical system in the field of cardiac surgery, and the difficulties in its popularization and application were also analyzed. The development of robot-assisted surgical system in cardiac surgery in the future is also prospected. It is expected that this paper can provide help for the application and promotion of robotic surgery system in cardiac surgery.

收稿日期：2021-04-29  录用日期：2021-06-04

Received Date: 2021-04-29  Accepted Date: 2021-06-04

基金项目：安徽省高校自然科学基金（KJ2019A0246）

Foundation Item: Natural Science Foundation of Anhui Universities (KJ2019A0246)

通讯作者：张成鑫，Email：zhangchengxin@ahmu.edu.cn；王嵘，Email：wangrongd@126.com

Corresponding Author: ZHANG Chengxin, Email: zhangchengxin@ahmu.edu.cn; WANG Rong, Email: wangrongd@126.com

引用格式：张帅朋，张成鑫，王嵘 . 机器人手术系统在心脏外科手术中的应用 [J]. 机器人外科学杂志（中英文），2021，2（6）：439-450.

Citation: ZHANG S P, ZHANG C X, WANG R. Application of robotic surgery system in cardiac surgery [J]. Chinese Journal of Robotic Surgery, 2021, 2 (6): 439-450.

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