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The natural orifice intervention using continuum robots faces challenges such as tortuous and narrow intervention paths, as well as compressive forces exerted by soft tissues in the orifice. To address the issue in the delivery process where existing planning methods struggle to balance multiple control objectives, resulting in difficulty in reaching deeper positions, an autonomous planning scheme based on residual reinforcement learning was proposed. The method enables the autonomous delivery of continuum robots through natural orifices. A feedback deviation model between the delivery posture of the continuum robot and the spatial state of the natural orifice was established to control the posture target during the delivery process. Simultaneously, a Markov model of the overall motion process of the continuum robot was constructed to train the reinforcement learning algorithm. A residual strategy, generated by combining posture feedback control with reinforcement learning control, was used to output the optimal actions for the continuum robot's delivery process. Experiments conducted in a simulated bronchial orifice show that the proposed method converges over 60% faster than existing methods and can plan smooth, collision-free trajectories for the continuum robot's intervention through the orifice, outperforming existing methods in several key metrics.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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