摘要： 目前常用的神经外科手术机器人系统的定位移动依靠传统光学导航，体积较大且价格昂贵，临床应用受到限制。近年来，神经外科手术机器人系统逐渐向协作机器人系统方向发展，协作机器人系统可配合术者操作，提高手术效率，确保手术操作更准确、更安全。相比监视控制系统和主从系统，协作机器人系统构造和操作更简单，成本更低，与人类感知觉的联合更紧密，可直接整合入手术场景。本文综述Evolution 1、ROVOT-m、RoboticScope、iArmS、Craniostar原型机和基于3D机器视觉的新型手术协作机器人共6种用于稳定操作和辅助术野观察的手术协作机器人系统的构成和工作原理，以促进其在神经外科的临床应用。

关键词: 机器人手术, 神经外科手术, 综述

Abstract: Currently, the common neurosurgical robot systems rely on traditional optical navigation for positioning and movement, which is large and expensive, and its clinical application is limited. In recent years, the neurosurgical robot systems have gradually developed to the direction of collaborative robot systems. Collaborative robot systems can cooperate with the surgeon to improve the efficiency of surgery and ensure more accurate and safe surgery. Compared to supervisory control system and master-slave system, collaborative robot systems are simpler to construct and operate, less costly, more closely integrated with human perception, and can be directly integrated into surgical scenarios. This article reviews the structure and working principle of Evolution 1, ROVOT-m, RoboticScope, iArmS, Craniostar prototype and a new surgical cooperative robot based on 3D machine vision, which are 6 kinds of surgical robot systems for stabilizing surgical procedures and facilitating observation of surgical field, to promote its clinical application in neurosurgery.

Key words: Robotic surgical procedures, Neurosurgical procedures, Review