用于模拟导管导航的触觉指导系统,具有不同的动感反配置文件
Taha Abbasi-Hashemi1, Farrokh Janabi-Sharifi2, Asim N Cheema3
1Department of Electrical, Computer, and Biomedical Engineering, Toronto Metropolitan University, Toronto, Ontario, Canada.
概括
这项研究引入了触觉指导系统,以提高导管导航的安全性. 强化学习 (RL) 强力配置文件提供了最安全的选择,在程序期间保持在血管系统内.
科学领域:
- 医疗模拟 医疗模拟
- 机器人技术在医学中的应用
- 手术导航系统 手术导航系统
背景情况:
- 在模拟环境中导管导航带来了挑战.
- 改善手术安全是心血管干预的关键目标之一.
研究的目的:
- 评估一个触觉指导系统,以加强导管导航.
- 为了比较不同的力量概况,包括一种新的强化学习 (RL) 方法.
主要方法:
- 开发了三种力量配置文件:防撞,中线导航和RL.
- 在模拟的导管导航过程中评估了系统性能,从左侧常见阴到右侧心房.
主要成果:
- 触觉反显著提高了手术安全性,而不是仅视觉反.
- RL力概况证明了维护血管穿越的最高安全性.
- 在不同的解剖区域中,力量特征的有效性有所不同.
结论:
- 触觉指导系统具有改善心血管干预的巨大潜力.
- 触觉反的应用可以根据解剖学上下文和程序目标进行优化.
相关概念视频
Design Example: Resistive Touchscreen
A device engineer plays a crucial role in designing user interfaces for mobile devices. One such interface is the resistive touchscreen, which fundamentally consists of two metallic layers: a flexible upper layer and a rigid lower layer, separated by a narrow gap. The high resistance between these two layers is a key characteristic of this design.
When a user touches the screen, the two layers make contact at a specific point known as the touchpoint. This contact reduces the resistance between...
When a user touches the screen, the two layers make contact at a specific point known as the touchpoint. This contact reduces the resistance between...
Design Example
The innovation of touch-tone telephony revolutionized the telecommunications industry by replacing the traditional rotary dial with a dual-tone multi-frequency (DTMF) signaling system. This system uses a matrix-style keypad with buttons arranged in four rows and three columns, creating 12 distinct signals each assigned to a pair of frequencies. Each button press results in a simultaneous generation of two sinusoidal tones – one from a low-frequency group (697 to 941 Hz) and one from a...
Feedback control systems
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Multi-input and Multi-variable systems
Cruise control systems in cars are designed as multi-input systems to maintain a driver's desired speed while compensating for external disturbances such as changes in terrain. The block diagram for a cruise control system typically includes two main inputs: the desired speed set by the driver and any external disturbances, such as the incline of the road. By adjusting the engine throttle, the system maintains the vehicle's speed as close to the desired value as possible.
In the absence of...
In the absence of...
Controller Configurations
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller aligns...
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller aligns...
PD Controller: Design
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...


