以直觉为指导的强化学习用于软组织操纵,未知约束
Xian He1,2, Shuai Zhang1,2, Jian Chu1,2
1School of Management, Hefei University of Technology, Hefei, China.
Cyborg and bionic systems (Washington, D.C.)
|April 15, 2025
概括
本研究介绍了一种以直觉为导向的深度强化学习框架,用于自主机器人手术. 该ID-SAC系统通过导航未知的约束和障碍来增强软组织操纵,提高手术精度.
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
- 人工智能的人工智能
背景情况:
- 自主机器人手术在软组织操纵方面面临挑战,原因是复杂的体内环境.
- 之前的研究往往简化了约束,假设已知的抓取点和恒定的操作条件,忽视了障碍.
研究的目的:
- 开发一个先进的框架,用于在未知和动态约束下自主软组织操纵.
- 在复杂的手术场景中增强机器人决策.
主要方法:
- 提出了一种以直觉为导向的深度强化学习框架 (ID-SAC),将软演员-批评 (SAC) 与直观操纵 (IM) 战略相结合.
- 实现了一个自主抓取点选择神经网络,以确保实用和安全的抓取.
- 引入了一个调节因子来协调操纵策略,以及一个奖励函数来优化探索.
主要成果:
- 在模拟中,ID-SAC框架成功地操纵软组织,同时避免障碍物并适应新的位置约束.
- 与标准SAC算法相比,该系统证明了机器人软组织操纵的改进.
- 框架对调节因素的自动调整提高了性能.
结论:
- 拟议的ID-SAC框架为在具有挑战性的外科环境中进行自主软组织操纵提供了强大的解决方案.
- 这种方法通过解决处理未知的约束和障碍的局限性,大大提高了机器人手术的能力.
相关概念视频
Long-term Potentiation
Long-term potentiation, or LTP, is one of the ways by which synaptic plasticity—changes in the strength of chemical synapses—can occur in the brain. LTP is the process of synaptic strengthening that occurs over time between pre- and postsynaptic neuronal connections. The synaptic strengthening of LTP works in opposition to the synaptic weakening of long-term depression (LTD) and together are the main mechanisms that underlie learning and memory.
Reason and Intuition
The human brain processes information for decision-making using one of two routes: an intuitive system and a rational system (Epstein, 1994; popularized by Kahneman, 2011 as System 1 and System 2, respectively). The intuitive system is quick, impulsive, and operates with minimal effort, relying on emotions or habits to provide cues for what to do next, while the rational system is logical, analytical, deliberate, and methodical. Research in neuropsychology suggests that the brain can only use...
Long-term Potentiation
Long-term potentiation, or LTP, is one of the ways by which synaptic plasticity—changes in the strength of chemical synapses—can occur in the brain. LTP is the process of synaptic strengthening that occurs over time between pre and postsynaptic neuronal connections. The synaptic strengthening of LTP works in opposition to the synaptic weakening of long-term depression (LTD) and together are the main mechanisms that underlie learning and memory.
Hebbian LTP
LTP can occur when presynaptic neurons...
Hebbian LTP
LTP can occur when presynaptic neurons...
Three-Dimensional Force System:Problem Solving
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
Cognitive Learning
Cognitive learning is based on purposive behavior, incidental learning, and insight learning.
E. C. Tolman's theory of purposive behavior emphasizes that much behavior is goal-directed. He argued that to understand behavior, we must look at the entire sequence of actions leading to a goal. For instance, high school students study hard, not just due to past reinforcement but also to achieve the goal of getting into a good college.
Tolman introduced the idea that behavior is influenced by...
E. C. Tolman's theory of purposive behavior emphasizes that much behavior is goal-directed. He argued that to understand behavior, we must look at the entire sequence of actions leading to a goal. For instance, high school students study hard, not just due to past reinforcement but also to achieve the goal of getting into a good college.
Tolman introduced the idea that behavior is influenced by...
Purposive Learning
E. C. Tolman emphasized the purposiveness of behavior — the idea that much of our behavior is goal-directed. For instance, employees who aim for a promotion work diligently to meet their targets. Tolman argued that when classical conditioning and operant conditioning occur, the organism acquires certain expectations. In classical conditioning, a child might fear a dog because they expect it to bite. In operant conditioning, a person might consistently work overtime because they expect a bonus...


