基于模仿学习的眼底手术行为机器人复现  

Fundus Surgical Behavior Reproduction of Robot Based on Imitation Learning

作　　者：李至 潘越 陈殿生[1] 秦雪娇[2] 王韫 王俊杰 LI Zhi;PAN Yue;CHEN Diansheng;QIN Xuejiao;WANG Yun;WANG Junjie(School of Mechanical Engineering and Automation,Beihang University,Beijing 100191,China;Shandong University,Jinan 250100,China)

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100191 [2]山东大学,山东济南250100

出　　处：《机器人》2024年第3期361-369,共9页Robot

基　　金：国家重点研发计划(2022YFB4702904)。

摘　　要：针对现有眼底手术专家紧缺的问题,提出了一种获取与学习医生眼底手术操作技能的方法。首先,基于深度相机构建了手术操作行为采集平台,对手术操作轨迹进行采集;其次,依据医生在不同手术阶段的操作意图,基于隐马尔可夫模型,实现了对医生操作技能的分割与表征;再次,基于模仿学习算法设计了医生手术操作学习方法,并进一步实现了对医生手术操作的复现;最后借助睿尔曼RM65-B机器人对相关方法进行了实验验证。结果显示,本文的眼底手术行为模仿学习方法可有效实现手术操作技能的表征与学习,并指导机器人完成相关手术操作。In view of the shortage of experts in fundus surgery,a method to acquire and learn the doctor’s operation skills of fundus surgery is proposed.Firstly,a surgical operation acquisition platform is constructed based on the depth camera,and the surgical operation trajectory is collected.Secondly,according to the operation intention of doctors in different stages of operation,the segmentation and formulation of doctors’operation skills are realized based on hidden Markov model.Thirdly,the learning method of doctor’s operation is designed based on the imitation learning algorithm,and the reproduction of doctor’s operation is further realized.Finally,the relevant methods are tested and verified by using RealMan RM65-B robot.Results show that the proposed imitation learning method for fundus surgical behavior can effectively realize the representation and learning of surgical operation skills,and guide the robot to complete the relevant surgical operations.

关 键 词：眼底手术 模仿学习 机器人 行为复现 

分 类 号：R318.6[医药卫生—生物医学工程] TP242[医药卫生—基础医学]