SURGICAL
面向微创手术机器人容错FBG力传感的自监督掩码感知Transformer
Peibo Sun, Shiyuan Dong, Shucheng Ye, Jianrong Cai, Yushan Liu, Hongen Liao, Tianqi Huang, Fang Chen
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
本文提出一种自监督掩码感知Transformer，用于解决微创手术机器人中FBG力传感器的非线性交叉耦合和通道中断问题。该方法通过掩码通道重建预训练和动态损坏课程微调，实现了对多种传感器故障的优雅降级。
关键词
FBG force sensingfault-tolerantself-supervised learningmask-aware Transformerminimally invasive surgery
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