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人工智能论文:机器人辅助眼外科中的巩膜力控制:自适应力控制与听觉反馈(Sclera Force Control in Robot-assisted Eye Su

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犀牛 发表于 2019-1-11 11:46:24 | 显示全部楼层 |阅读模式
犀牛 2019-1-11 11:46:24 187 0 显示全部楼层
人工智能论文:机器人辅助眼外科中的巩膜力控制:自适应力控制与听觉反馈(Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force  Control vs. Auditory Feedback)外科医生的手震颤限制了显微手术过程中的人的能力,例如那些治疗眼睛的人。相比之下,通过引入显微手术机器人消除手部颤动减少了外科医生对有用和熟悉的工具 - 巩膜力的触觉感知。虽然眼外科手术机器人的大质量和惯性可以防止外科医生微震,但是小巩膜力的感知失去可能会使巩膜处于受伤的风险中。在本文中,我们应用并比较了两种不同的方法,以确保在机器人辅助眼科手术期间巩膜组织的安全性。在主动控制方法中,在稳定手眼机器人上实施自适应力控制策略,以便在超过安全边界时控制巩膜力的大小。然后将该自主力补偿与被动力控制方法相比较,其中外科医生响应于与巩膜力的大小成比例的所提供的音频反馈来执行手动调节。一项针对三个用户的试点研究表明,主动控制方法可能更有效。
Surgeon hand tremor limits human capability during microsurgical proceduressuch as those that treat the eye.In contrast, elimination of hand tremorthrough the introduction of microsurgical robots diminishes the surgeon'stactile perception of useful and familiar tool-to-sclera forces.While thelarge mass and inertia of eye surgical robot prevents surgeon microtremor, lossof perception of small scleral forces may put the sclera at risk of injury.Inthis paper, we have applied and compared two different methods to assure thesafety of sclera tissue during robot-assisted eye surgery.In the activecontrol method, an adaptive force control strategy is implemented on theSteady-Hand Eye Robot in order to control the magnitude of scleral forces whenthey exceed safe boundaries.This autonomous force compensation is thencompared to a passive force control method in which the surgeon performs manualadjustments in response to the provided audio feedback proportional to themagnitude of sclera force.A pilot study with three users indicate that theactive control method is potentially more efficient.人工智能论文:机器人辅助眼外科中的巩膜力控制:自适应力控制与听觉反馈(Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force  Control vs. Auditory Feedback) EbVVBa82VvuEADBV.jpg
URL地址:https://arxiv.org/abs/1901.03307     ----pdf下载地址:https://arxiv.org/pdf/1901.03307    ----人工智能论文:机器人辅助眼外科中的巩膜力控制:自适应力控制与听觉反馈(Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force  Control vs. Auditory Feedback)
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