随着微创外科由多孔向单孔范式深度演进,在极度受限空间内实现高载荷灵巧操作与多器械运动解耦已成为行业核心瓶颈.为剖析国产单孔手术机器人技术现状并探究其智能化演进路径,针对上海交通大学徐凯教授团队首台获批上市的“术锐”系统及相关研究展开系统性学术述评.首先,从机构学视角出发,解构依托原创双连续体机构打破国外技术垄断的技术路径,评估其在 12 mm 极小入路下兼顾高载荷与灵巧性的刚柔耦合设计,并分析其在多术式范式下的通用化价值;其次,在建模与感知层面,梳理从常曲率假设向变曲率动力学补偿的理论跨越,并阐述从无标记视觉跟踪向智能化感知辅助的技术迭代策略;再次,理性辨析该系统在复杂工况非线性补偿、高保真触觉反馈及长效临床实证等维度的演进空间.研究表明,徐凯教授团队研发的单孔手术机器人实现了核心机构自主创新与临床转化的里程碑跨越.单孔机器人正处于由被动主从工具向主动智能化平台转型的关键期,未来应聚焦构建多模态感知与智能决策架构,逐步实现从遥控操作到自主智能的跃迁,推动微创腔镜手术机器人技术迈向智能协作者新形态.

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.