随着微创外科手术技术的应用范围不断拓展，自主式内窥镜机器人研究已成为科学家们的研究热点。
With the expanding of applied range of minimal invasive surgery (MIS) technology, studies on the autonomic endoscopic micro robots have been more and more important.
核磁共振兼容机器人是图像引导手术机器人的一个重要研究方向，在微创外科手术中得到越来越多的应用。
Firstly, status of research on MR-compatible surgical robot was introduced and analyzed in detail from the functions and MR-compatibility.
首先，建立了腹腔微创外科手术机器人模型。
Firstly, the model of celiac minimally invasive surgical robot is established.
分析了腹腔微创外科手术机器人的建模要求，确定了机器人模型总体方案。
The modeling request of celiac minimally invasive surgical robot is analyzed, and the entire scheme of robot model is made.
腹腔内部组织模型是腹腔微创外科手术机器人仿真平台中的操作对象。
The models in abdomen oriented to celiac minimally invasive surgery are the objects operated in the simulation platform of the model of celiac minimally invasive surgical robot.
腹腔内部组织模型是腹腔微创外科手术机器人仿真平台中的操作对象。
The models in abdomen oriented to celiac minimally invasive surgery are the objects operated in the simulation platform of the model of celiac minimally invasive surgical robot.
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