【摘要】 手术机器人是国家战略诊疗设备研究重点，得到多所科研院所、高校及企业的广泛关注，设计研发了多款手术机器人，并进行了注册申报。该文深入探讨了手术机器人的关键技术及其性能优化要点，包括运动学的定位误差、位姿误差、反馈模型误差、图像识别定位误差、路径规划和安全性方面等。不仅为未来手术机器人标准化研究提供了科学依据，也为医疗机器人行业的研发、制造及注册流程提供了重要的理论与实践参考。更多还原

【Abstract】 Surgical robot is the national strategic diagnostic and therapeutic equipment research focus, get a number of scientific research institutes, colleges and universities and enterprises pay extensive attention to the design and development of a variety of surgical robots, and registration declaration. This article explores the critical technologies of surgical robots and key areas for optimizing their performance, including kinematic positioning errors, pose errors, feedback model errors, image recognition positioning errors, path planning, and safety aspects. The findings not only provide a scientific basis for future standardization research on surgical robots but also offer significant theoretical and practical references for the research, manufacturing, and registration processes in the medical robotics industry.更多还原