Transfer force perception skills to robot‐assisted laminectomy via imitation learning from human demonstrations

摘要

Abstract A comparative study of two force perception skill learning approaches for robot‐assisted spinal surgery, the impedance model method and the imitation learning (IL) method, is presented. The impedance model method develops separate models for the surgeon and patient, incorporating spring‐damper and bone‐grinding models. Expert surgeons' feature parameters are collected and mapped using support vector regression and image navigation techniques. The imitation learning approach utilises long short‐term memory networks (LSTM) and addresses accurate data labelling challenges with custom models. Experimental results demonstrate skill recognition rates of 63.61%–74.62% for the impedance model approach, relying on manual feature extraction. Conversely, the imitation learning approach achieves a force perception recognition rate of 91.06%, outperforming the impedance model on curved bone surfaces. The findings demonstrate the potential of imitation learning to enhance skill acquisition in robot‐assisted spinal surgery by eliminating the laborious process of manual feature extraction.