Learning manipulation skills from open surgery provides more flexible access to the organ targets in the abdomen cavity and this could make the surgical robot working in a highly intelligent and friendly manner. Teaching by demonstration (TbD) is capable of transferring the manipulation skills from human to humanoid robots by employing active learning of multiple demonstrated tasks. This work aims to transfer motion skills from multiple human demonstrations in open surgery to robot manipulators in robot-assisted minimally invasive surgery (RA-MIS) by using TbD. However, the kinematic constraint should be respected during the performing of the learned skills by using a robot for minimally invasive surgery. In this article, we propose a novel methodology by integrating the cognitive learning techniques and the developed control techniques, allowing the robot to be highly intelligent to learn senior surgeons' skills and to perform the learned surgical operations in semiautonomous surgery in the future. Finally, experiments are performed to verify the efficiency of the proposed strategy, and the results demonstrate the ability of the system to transfer human manipulation skills to a robot in RA-MIS and also shows that the remote center of motion (RCM) constraint can be guaranteed simultaneously. Note to Practitioners-This article is inspired by limited access to the manipulation of laparoscopic surgery under a kinematic constraint at the point of incision. Current commercial surgical robots are mostly operated by teleoperation, which is representing less autonomy on surgery. Assisting and enhancing the surgeon's performance by increasing the autonomy of surgical robots has fundamental importance. The technique of teaching by demonstration (TbD) is capable of transferring the manipulation skills from human to humanoid robots by employing active learning of multiple demonstrated tasks. With the improved ability to interact with humans, such as flexibility and compliance, ...

中文翻译：

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机器人辅助微创手术示范教学


从开放手术中学习操作技能可以更灵活地接近腹腔内的器官目标，这可以使手术机器人以高度智能和友好的方式工作。演示教学（TbD）能够通过对多个演示任务进行主动学习，将操作技能从人类转移到人形机器人。这项工作旨在通过使用 TbD 将开放手术中多个人体演示的运动技能转移到机器人辅助微创手术 (RA-MIS) 中的机器人操纵器。然而，在使用机器人进行微创手术来执行所学技能的过程中，应尊重运动学约束。在本文中，我们提出了一种新颖的方法，通过整合认知学习技术和发达的控制技术，使机器人能够高度智能地学习高级外科医生的技能，并在未来的半自主手术中执行所学到的手术操作。最后，进行实验验证所提出策略的有效性，结果证明了系统将人类操作技能转移到RA-MIS中机器人的能力，并且还表明远程运动中心（RCM）约束可以同时保证。从业者注意事项-本文的灵感来自于在切口点的运动学约束下腹腔镜手术的操作受限。目前的商用手术机器人大多采用远程操作方式，手术自主性较差。通过提高手术机器人的自主性来协助和提高外科医生的表现具有根本性的重要性。 演示教学技术（TbD）能够通过对多个演示任务进行主动学习，将操作技能从人类转移到人形机器人。随着与人类互动的能力提高，例如灵活性和顺从性，...