审查基于模型和无模型的方法来控制软执行器及其在结肠镜中的潜力
Motahareh Asgari1, Ludovic Magerand2, Luigi Manfredi1
1Division of Imaging Science and Technology, School of Medicine, University of Dundee, Dundee, United Kingdom.
Frontiers in robotics and AI
|November 29, 2023
概括
软体内机器人为结肠直肠癌查提供了传统结肠镜检查的有希望的替代方案. 本综述探讨了这些软机器人的控制策略,以提高结肠镜检查的有效性和安全性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 医疗技术 医疗技术 医学技术
- 胃肠病学 胃肠病学
背景情况:
- 结肠直肠癌 (CRC) 是全球癌症死亡的主要原因,需要有效的查方法.
- 结肠镜,目前的标准,面临的挑战,如患者的不适,高成本,和机动性问题.
- 软体内机器人是一个潜在的解决方案,因为它们的服从性和减少对结肠壁的力量施加.
研究的目的:
- 审查适用于结肠镜检查的软内体机器人的控制策略.
- 为了解决医疗应用软机器人系统控制方面的挑战.
- 为更安全,更有效的机器人结肠镜指导先进控制的发展.
主要方法:
- 讨论软机器人的无模型和基于模型的控制方法.
- 基于传感器/执行器功能的控制方法选择的分析.
- 强调使用机器人/环境数据和校准来定义控制策略.
主要成果:
- 识别了软机器人系统固有的控制挑战.
- 强调需要针对软体内机器人的量身定制控制策略.
- 强调了传感器,执行器和校准数据在控制设计中的作用.
结论:
- 智能控制策略对于提高软内机器人在结肠镜检查中的性能至关重要.
- 控制方法应适应机器人的特性,环境因素和特定需求.
- 这一审查为开发下一代机器人结肠镜系统提供了基础.
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