关键词: 单孔手术机器人, 双连续体机构, 机器人运动学, 驱动补偿, 变曲率建模

Abstract:

The field of minimally invasive laparoscopic surgery is undergoing a significant paradigm shift from multi-port to single-port access, driven by the imperative to further reduce patient trauma. This transition, however, introduces critical technical bottlenecks, particularly in achieving high-payload dexterous manipulation and effective kinematic decoupling of multiple instruments within severely constrained intra-abdominal spaces. This review provides a systematic analysis of the first domestically developed single-port surgical robotic platform (SHURUI), led by Professor Xu Kai at Shanghai Jiao Tong University and approved by the National Medical Products Administration (NMPA). From a mechanism design perspective, this review examines the innovative dual-continuum mechanism that has enabled the system to overcome international technological monopolies. Particular emphasis is placed on the rigid-flexible coupling architecture, which achieves an effective balance between high payload capacity and enhanced dexterity through an ultra-compact diameter of 12 mm access port, while demonstrating versatility across multi-port, single-port, and hybrid-port surgical configurations. At the modelling and perception levels, it traces key advancements, including the transition from conventional constant-curvature kinematic assumptions to more sophisticated variable-curvature dynamic compensation strategies, as well as the progression from markerless visual tracking to intelligent assisted perception frameworks. Building upon these innovations, it critically evaluates persistent limitations and future challenges, including nonlinear distortion under complex loading conditions, the absence of high-fidelity haptic feedback, and the need for more extensive long-term clinical evidence. In conclusion, the SHURUI system and the foundational research led by Professor Xu mark a landmark milestone in single-port surgical robotics, achieving core mechanism autonomy, overcoming longstanding international technological barriers, and enabling successful clinical translation. The field currently stands at a critical inflection point, poised to transition from conventional passive master-slave teleoperation tools to active, intelligent surgical platforms. Future advancements should prioritize the deep integration of multimodal sensing and artificial intelligence-driven decision-making architectures, facilitating the evolutionary leap from remote-controlled operation to autonomous intelligence. This trajectory will ultimately propel minimally invasive endoscopic surgical robotics toward a new paradigm of intelligent collaborative systems.

Key words: single-port surgical robot, dual continuum mechanism, robot kinematics, actuation compensation, variable curvature modelling