Transfer force perception skills to robot‐assisted laminectomy via imitation learning from human demonstrations  

作　　者：Meng Li Xiaozhi Qi Xiaoguang Han Ying Hu Bing Li Yu Zhao Jianwei Zhang 

机构地区：[1]Harbin Institute of Technology,Shenzhen,China [2]Shenzhen Institute of Advanced Technology,Chinese Academy of Sciences,Shenzhen,China [3]Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System,Shenzhen Institute of Advanced Technology,Chinese Academy of Sciences,Shenzhen,China [4]Beijing Jishuitan Hospital,Capital Medical University,Beijing,China [5]Department of Orthopedics,Peking Union Medical College Hospital,Chinese Academy of Medical Sciences and Peking Union Medical College,Beijing,China [6]University of Hamburg,Hamburg,22527,Germany

出　　处：《CAAI Transactions on Intelligence Technology》2024年第4期903-916,共14页智能技术学报（英文）

基　　金：National Key Research and Development Program of China,Grant/Award Number:2022YFB4700701;National Natural Science Foundation of China,Grant/Award Numbers:52375035,U21A20489;CAMS Innovation Fund for Medical Sciences,Grant/Award Number:2022‐I2M‐C&T‐A‐005;Shenzhen Science and Technology Program,Grant/Award Numbers:JSGG20220831100202004,JCYJ20220818101412026。

摘　　要：A comparative study of two force perception skill learning approaches for robot‐assisted spinal surgery,the impedance model method and the imitation learning(IL)method,is presented.The impedance model method develops separate models for the surgeon and patient,incorporating spring‐damper and bone‐grinding models.Expert surgeons'feature parameters are collected and mapped using support vector regression and image navi-gation techniques.The imitation learning approach utilises long short‐term memory networks(LSTM)and addresses accurate data labelling challenges with custom models.Experimental results demonstrate skill recognition rates of 63.61%-74.62%for the impedance model approach,relying on manual feature extraction.Conversely,the imitation learning approach achieves a force perception recognition rate of 91.06%,outperforming the impedance model on curved bone surfaces.The findings demonstrate the potential of imitation learning to enhance skill acquisition in robot‐assisted spinal surgery by eliminating the laborious process of manual feature extraction.

关 键 词：learning(artificial intelligence) medical applications medical signal processing ROBOTICS 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]