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相关概念视频

Somatosensation01:33

Somatosensation

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The somatosensory system relays sensory information from the skin, mucous membranes, limbs, and joints. Somatosensation is more familiarly known as the sense of touch. A typical somatosensory pathway includes three types of long neurons: primary, secondary, and tertiary. Primary neurons have cell bodies located near the spinal cord in groups of neurons called dorsal root ganglia. The sensory neurons of ganglia innervate designated areas of skin called dermatomes.
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相关实验视频

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Haptic/Graphic Rehabilitation: Integrating a Robot into a Virtual Environment Library and Applying it to Stroke Therapy
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通过无传感器的触觉反来增强机器人远程手术.

Nural Yilmaz1,2, Brendan Burkhart3, Anton Deguet3

  • 1Department of Computer Science, Johns Hopkins University, Baltimore, MD, 21218, USA. nyilmaz2@jhu.edu.

International journal of computer assisted radiology and surgery
|April 10, 2024
PubMed
概括
此摘要是机器生成的。

在远程手术中的无感触反显著提高了瘤检测的准确性,并减少了相互作用力. 动态补偿进一步提高了性能,在没有硬件更改的情况下提供了好处.

关键词:
深度学习是一种深度学习.感应力感应力感应力感应力触觉学是指触觉学,是指触觉学.电话操作是远程操作.

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Adaptation of a Haptic Robot in a 3T fMRI
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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 手术技术 手术技术
  • 人与计算机的交互

背景情况:

  • 手术中的远程操作系统旨在提高外科医生的远程能力.
  • 触觉反对于提高手术精度和安全至关重要.
  • 现有的系统通常依赖于复杂的硬件来进行力传感.

研究的目的:

  • 用达芬奇研究套件 (dVRK) 评估用户在远程手术任务中的表现.
  • 为了比较单边远程操作,双边远程操作与力传感器,和无传感器的力估计.
  • 评估无传感器触觉反与动态补偿的影响.

主要方法:

  • 开发了一个带有干扰观察器和无传感器力估计的四通道远程操作系统.
  • 通过各种反方式,对12名使用者进行了组织幽灵的触摸实验.
  • 与10名用户进行了转移实验,以评估具有和没有动态补偿的无传感器触觉反.

主要成果:

  • 与仅视觉反相比,无感触反可以提高瘤检测准确率30%.
  • 无传感器反的准确性与传感器反或直接接触相当.
  • 无感应反使偶然接触力减少了三倍,但增加了自由运动力.

结论:

  • 无传感触觉反为远程操作手术系统提供了显著的好处.
  • 动态补偿可以减轻缺点并改善整体外科手术性能.
  • 这项技术提高了手术结果,而不需要硬件修改.