From 3ee7dad1f2165b19d5dda73ceb0add271c2b145f Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Fri, 31 Jan 2025 11:19:55 +0800 Subject: [PATCH 01/28] Update README.md --- README.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/README.md b/README.md index 6973889..3e8a652 100644 --- a/README.md +++ b/README.md @@ -257,6 +257,9 @@ Coming Soon...
+#### 3.6.1.2 Domain-specific Simulators - 手术机器人技能学习领域的模拟器 +* SurRoL: RL Centered and dVRK Compatible Platform for Surgical Robot Learning [website](https://med-air.github.io/SurRoL/)
+ # 4. Hardware - 硬件 > 具身智能硬件方面涵盖多个技术栈，如嵌入式软硬件设计，机械设计，机器人硬件系统设计，这部分知识比较繁杂，适合想要专注此方向的人 From 4e433aa26f55d05cd8c40375bc90899f75c9304a Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Fri, 31 Jan 2025 11:23:53 +0800 Subject: [PATCH 02/28] Update README.md --- README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/README.md b/README.md index 3e8a652..4de53f5 100644 --- a/README.md +++ b/README.md @@ -259,6 +259,8 @@ Coming Soon... #### 3.6.1.2 Domain-specific Simulators - 手术机器人技能学习领域的模拟器 * SurRoL: RL Centered and dVRK Compatible Platform for Surgical Robot Learning [website](https://med-air.github.io/SurRoL/)
+* Surgical Gym: A high-performance GPU-based platform for surgical robot learning (ICRA 2024, work in progress) [website]([https://med-air.github.io/SurRoL/](https://github.com/SamuelSchmidgall/SurgicalGym))
+* ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity (ICRA 2024) [website](https://orbit-surgical.github.io/))
# 4. Hardware - 硬件 From 53773997b2302d4c32a642770870f70c2b01e94b Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Fri, 31 Jan 2025 11:24:46 +0800 Subject: [PATCH 03/28] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 4de53f5..df4d8d6 100644 --- a/README.md +++ b/README.md @@ -259,7 +259,7 @@ Coming Soon... #### 3.6.1.2 Domain-specific Simulators - 手术机器人技能学习领域的模拟器 * SurRoL: RL Centered and dVRK Compatible Platform for Surgical Robot Learning [website](https://med-air.github.io/SurRoL/)
-* Surgical Gym: A high-performance GPU-based platform for surgical robot learning (ICRA 2024, work in progress) [website]([https://med-air.github.io/SurRoL/](https://github.com/SamuelSchmidgall/SurgicalGym))
+* Surgical Gym: A high-performance GPU-based platform for surgical robot learning (ICRA 2024, work in progress) [website](https://med-air.github.io/SurRoL/](https://github.com/SamuelSchmidgall/SurgicalGym))
* ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity (ICRA 2024) [website](https://orbit-surgical.github.io/))
# 4. Hardware - 硬件 From b0c105a95796db4ba1e75a3678aa65f3e67857ec Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Fri, 31 Jan 2025 11:25:37 +0800 Subject: [PATCH 04/28] Update README.md --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index df4d8d6..b9bb264 100644 --- a/README.md +++ b/README.md @@ -259,8 +259,8 @@ Coming Soon... #### 3.6.1.2 Domain-specific Simulators - 手术机器人技能学习领域的模拟器 * SurRoL: RL Centered and dVRK Compatible Platform for Surgical Robot Learning [website](https://med-air.github.io/SurRoL/)
-* Surgical Gym: A high-performance GPU-based platform for surgical robot learning (ICRA 2024, work in progress) [website](https://med-air.github.io/SurRoL/](https://github.com/SamuelSchmidgall/SurgicalGym))
-* ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity (ICRA 2024) [website](https://orbit-surgical.github.io/))
+* Surgical Gym: A high-performance GPU-based platform for surgical robot learning (ICRA 2024, work in progress) [website](https://github.com/SamuelSchmidgall/SurgicalGym)
+* ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity (ICRA 2024) [website](https://orbit-surgical.github.io/)
# 4. Hardware - 硬件 From 0d68f56d80888b2cb5bb548d240565c8fbede39e Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Fri, 31 Jan 2025 12:04:22 +0800 Subject: [PATCH 05/28] Update README.md --- README.md | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index b9bb264..4d89808 100644 --- a/README.md +++ b/README.md @@ -257,10 +257,12 @@ Coming Soon...
-#### 3.6.1.2 Domain-specific Simulators - 手术机器人技能学习领域的模拟器 -* SurRoL: RL Centered and dVRK Compatible Platform for Surgical Robot Learning [website](https://med-air.github.io/SurRoL/)
-* Surgical Gym: A high-performance GPU-based platform for surgical robot learning (ICRA 2024, work in progress) [website](https://github.com/SamuelSchmidgall/SurgicalGym)
-* ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity (ICRA 2024) [website](https://orbit-surgical.github.io/)
+#### 3.6.1.2 Medical Robotics - 医疗机器人 +* 医疗机器人的五级自动化（领域行业共识），杨广中教授于2017年在Science Robotics上的论著: [Medical robotics—Regulatory, ethical, and legal considerations for increasing levels of autonomy](https://www.science.org/doi/pdf/10.1126/scirobotics.aam8638)
+* Domain-specific Simulators - 手术机器人技能学习领域的模拟器 + * SurRoL: RL Centered and dVRK Compatible Platform for Surgical Robot Learning [website](https://med-air.github.io/SurRoL/)
+ * Surgical Gym: A high-performance GPU-based platform for surgical robot learning (ICRA 2024, work in progress, based on NVIDIA Omniverse) [website](https://github.com/SamuelSchmidgall/SurgicalGym)
+ * ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity (ICRA 2024, based on NVIDIA Omniverse) [website](https://orbit-surgical.github.io/)
# 4. Hardware - 硬件 From ca7512148af10eb71ee79447b2079cff7b7a6398 Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Fri, 31 Jan 2025 12:09:58 +0800 Subject: [PATCH 06/28] Update README.md --- README.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 4d89808..4fde1ed 100644 --- a/README.md +++ b/README.md @@ -245,7 +245,7 @@ CS231n (斯坦福计算机视觉课程): [website](https://cs231n.stanford.edu/s ### 3.6.1 Embodied AI for Healthcare - 具身智能+医疗 - +具身智能的蓬勃发展也在驱动着医疗服务模式的深刻变革。具身智能+医疗作为一个跨学科且快速发展的研究领域，是涵盖了人工智能算法、机器人技术和生物医学的交叉学科研究方向。 #### 3.6.1.1 MLLM for Medical - 多模态大语言模型在医学中的应用 * SkinGPT-4 for dermatological diagnosis: [website](https://www.nature.com/articles/s41467-024-50043-3)
@@ -259,6 +259,7 @@ Coming Soon... #### 3.6.1.2 Medical Robotics - 医疗机器人 * 医疗机器人的五级自动化（领域行业共识），杨广中教授于2017年在Science Robotics上的论著: [Medical robotics—Regulatory, ethical, and legal considerations for increasing levels of autonomy](https://www.science.org/doi/pdf/10.1126/scirobotics.aam8638)
+* 医疗具身智能的分级[A Survey of Embodied AI in Healthcare: Techniques, Applications, and Opportunities](https://arxiv.org/pdf/2501.07468?)
* Domain-specific Simulators - 手术机器人技能学习领域的模拟器 * SurRoL: RL Centered and dVRK Compatible Platform for Surgical Robot Learning [website](https://med-air.github.io/SurRoL/)
* Surgical Gym: A high-performance GPU-based platform for surgical robot learning (ICRA 2024, work in progress, based on NVIDIA Omniverse) [website](https://github.com/SamuelSchmidgall/SurgicalGym)
From 9f818d89122a4db5c739ffe5b17866dc1d8ae23c Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Fri, 31 Jan 2025 12:14:47 +0800 Subject: [PATCH 07/28] Update README.md --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 4fde1ed..b433bd9 100644 --- a/README.md +++ b/README.md @@ -245,7 +245,7 @@ CS231n (斯坦福计算机视觉课程): [website](https://cs231n.stanford.edu/s ### 3.6.1 Embodied AI for Healthcare - 具身智能+医疗 -具身智能的蓬勃发展也在驱动着医疗服务模式的深刻变革。具身智能+医疗作为一个跨学科且快速发展的研究领域，是涵盖了人工智能算法、机器人技术和生物医学的交叉学科研究方向。 +> 具身智能的蓬勃发展也在驱动着医疗服务模式的深刻变革。具身智能+医疗作为一个跨学科且快速发展的研究领域，是涵盖了人工智能算法、机器人技术和生物医学的交叉学科研究方向。 #### 3.6.1.1 MLLM for Medical - 多模态大语言模型在医学中的应用 * SkinGPT-4 for dermatological diagnosis: [website](https://www.nature.com/articles/s41467-024-50043-3)
@@ -258,7 +258,7 @@ Coming Soon...
#### 3.6.1.2 Medical Robotics - 医疗机器人 -* 医疗机器人的五级自动化（领域行业共识），杨广中教授于2017年在Science Robotics上的论著: [Medical robotics—Regulatory, ethical, and legal considerations for increasing levels of autonomy](https://www.science.org/doi/pdf/10.1126/scirobotics.aam8638)
+* 医疗机器人的五级自动化（医疗机器人领域行业共识），杨广中教授于2017年在Science Robotics上的论著: [Medical robotics—Regulatory, ethical, and legal considerations for increasing levels of autonomy](https://www.science.org/doi/pdf/10.1126/scirobotics.aam8638)
* 医疗具身智能的分级[A Survey of Embodied AI in Healthcare: Techniques, Applications, and Opportunities](https://arxiv.org/pdf/2501.07468?)
* Domain-specific Simulators - 手术机器人技能学习领域的模拟器 * SurRoL: RL Centered and dVRK Compatible Platform for Surgical Robot Learning [website](https://med-air.github.io/SurRoL/)
From f1d8e2d22785dad2e1c94c02f5fc374eb4e84448 Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Fri, 31 Jan 2025 12:18:41 +0800 Subject: [PATCH 08/28] Update README.md --- README.md | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index b433bd9..ca5f2c4 100644 --- a/README.md +++ b/README.md @@ -253,17 +253,18 @@ CS231n (斯坦福计算机视觉课程): [website](https://cs231n.stanford.edu/s * BiomedGPT: [website](https://github.com/taokz/BiomedGPT)
* LLaVA-Med: [website](https://github.com/microsoft/LLaVA-Med?tab=readme-ov-file)
* RoboNurse-VLA: [website](https://robonurse-vla.github.io)
+* PathChat (哈佛医学院Faisal Mahmood教授团队的病理大模型。临床上，病理被称为诊断的金标准): [website](https://www.nature.com/articles/s41586-024-07618-3)
Coming Soon...
#### 3.6.1.2 Medical Robotics - 医疗机器人 * 医疗机器人的五级自动化（医疗机器人领域行业共识），杨广中教授于2017年在Science Robotics上的论著: [Medical robotics—Regulatory, ethical, and legal considerations for increasing levels of autonomy](https://www.science.org/doi/pdf/10.1126/scirobotics.aam8638)
-* 医疗具身智能的分级[A Survey of Embodied AI in Healthcare: Techniques, Applications, and Opportunities](https://arxiv.org/pdf/2501.07468?)
+* 医疗具身智能的分级: [A Survey of Embodied AI in Healthcare: Techniques, Applications, and Opportunities](https://arxiv.org/pdf/2501.07468?)
* Domain-specific Simulators - 手术机器人技能学习领域的模拟器 * SurRoL: RL Centered and dVRK Compatible Platform for Surgical Robot Learning [website](https://med-air.github.io/SurRoL/)
- * Surgical Gym: A high-performance GPU-based platform for surgical robot learning (ICRA 2024, work in progress, based on NVIDIA Omniverse) [website](https://github.com/SamuelSchmidgall/SurgicalGym)
- * ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity (ICRA 2024, based on NVIDIA Omniverse) [website](https://orbit-surgical.github.io/)
+ * Surgical Gym: A high-performance GPU-based platform for surgical robot learning (ICRA 2024, work in progress, based on NVIDIA Omniverse): [website](https://github.com/SamuelSchmidgall/SurgicalGym)
+ * ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity (ICRA 2024, based on NVIDIA Omniverse): [website](https://orbit-surgical.github.io/)
# 4. Hardware - 硬件 From 819a6fd442c6de9714a8e20f21ff1352e752aae7 Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Fri, 31 Jan 2025 12:21:24 +0800 Subject: [PATCH 09/28] Update README.md --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index ca5f2c4..85e6be1 100644 --- a/README.md +++ b/README.md @@ -255,6 +255,7 @@ CS231n (斯坦福计算机视觉课程): [website](https://cs231n.stanford.edu/s * RoboNurse-VLA: [website](https://robonurse-vla.github.io)
* PathChat (哈佛医学院Faisal Mahmood教授团队的病理大模型。临床上，病理被称为诊断的金标准): [website](https://www.nature.com/articles/s41586-024-07618-3)
Coming Soon... +* DeepDR-LLM (糖尿病视网膜病变 (DR)的专科垂域多模态大模型): [website](https://www.nature.com/articles/s41591-024-03139-8)
From 9bfffd16a751d8d982c312001c0edcd5fe9d6cff Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Fri, 31 Jan 2025 12:23:56 +0800 Subject: [PATCH 10/28] Update README.md --- README.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 85e6be1..dffd664 100644 --- a/README.md +++ b/README.md @@ -254,8 +254,9 @@ CS231n (斯坦福计算机视觉课程): [website](https://cs231n.stanford.edu/s * LLaVA-Med: [website](https://github.com/microsoft/LLaVA-Med?tab=readme-ov-file)
* RoboNurse-VLA: [website](https://robonurse-vla.github.io)
* PathChat (哈佛医学院Faisal Mahmood教授团队的病理大模型。临床上，病理被称为诊断的金标准): [website](https://www.nature.com/articles/s41586-024-07618-3)
-Coming Soon... * DeepDR-LLM (糖尿病视网膜病变 (DR)的专科垂域多模态大模型): [website](https://www.nature.com/articles/s41591-024-03139-8)
+* VisionFM (通用眼科人工智能的多模式多任务视觉基础模型): [website](https://ai.nejm.org/doi/full/10.1056/AIoa2300221)
+Coming Soon...
From 66b85e41339edee6d400d21b36312d773e8ba2b6 Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Fri, 31 Jan 2025 12:32:23 +0800 Subject: [PATCH 11/28] Update README.md --- README.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index dffd664..18123b9 100644 --- a/README.md +++ b/README.md @@ -263,8 +263,9 @@ Coming Soon... #### 3.6.1.2 Medical Robotics - 医疗机器人 * 医疗机器人的五级自动化（医疗机器人领域行业共识），杨广中教授于2017年在Science Robotics上的论著: [Medical robotics—Regulatory, ethical, and legal considerations for increasing levels of autonomy](https://www.science.org/doi/pdf/10.1126/scirobotics.aam8638)
* 医疗具身智能的分级: [A Survey of Embodied AI in Healthcare: Techniques, Applications, and Opportunities](https://arxiv.org/pdf/2501.07468?)
+* 通过模仿学习在达芬奇机器人上学习外科手术操作任务 Surgical Robot Transformer (SRT): [website](https://surgical-robot-transformer.github.io/)
* Domain-specific Simulators - 手术机器人技能学习领域的模拟器 - * SurRoL: RL Centered and dVRK Compatible Platform for Surgical Robot Learning [website](https://med-air.github.io/SurRoL/)
+ * SurRoL: RL-Centered and dVRK Compatible Platform for Surgical Robot Learning [website](https://med-air.github.io/SurRoL/)
* Surgical Gym: A high-performance GPU-based platform for surgical robot learning (ICRA 2024, work in progress, based on NVIDIA Omniverse): [website](https://github.com/SamuelSchmidgall/SurgicalGym)
* ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity (ICRA 2024, based on NVIDIA Omniverse): [website](https://orbit-surgical.github.io/)
From d15ce43a0b6cdbec81955714d396f7d261fb0770 Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Fri, 31 Jan 2025 12:45:52 +0800 Subject: [PATCH 12/28] Update README.md --- README.md | 18 +++++++++++++----- 1 file changed, 13 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index 18123b9..cf8a0a1 100644 --- a/README.md +++ b/README.md @@ -262,12 +262,20 @@ Coming Soon... #### 3.6.1.2 Medical Robotics - 医疗机器人 * 医疗机器人的五级自动化（医疗机器人领域行业共识），杨广中教授于2017年在Science Robotics上的论著: [Medical robotics—Regulatory, ethical, and legal considerations for increasing levels of autonomy](https://www.science.org/doi/pdf/10.1126/scirobotics.aam8638)
+* 医疗机器人的十年回顾(含医疗机器人的不同分类)，杨广中教授在Science Robotics上的综述文章：[A decade retrospective of medical robotics research from 2010 to 2020](https://www.science.org/doi/epdf/10.1126/scirobotics.abi8017)
* 医疗具身智能的分级: [A Survey of Embodied AI in Healthcare: Techniques, Applications, and Opportunities](https://arxiv.org/pdf/2501.07468?)
-* 通过模仿学习在达芬奇机器人上学习外科手术操作任务 Surgical Robot Transformer (SRT): [website](https://surgical-robot-transformer.github.io/)
-* Domain-specific Simulators - 手术机器人技能学习领域的模拟器 - * SurRoL: RL-Centered and dVRK Compatible Platform for Surgical Robot Learning [website](https://med-air.github.io/SurRoL/)
- * Surgical Gym: A high-performance GPU-based platform for surgical robot learning (ICRA 2024, work in progress, based on NVIDIA Omniverse): [website](https://github.com/SamuelSchmidgall/SurgicalGym)
- * ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity (ICRA 2024, based on NVIDIA Omniverse): [website](https://orbit-surgical.github.io/)
+* Artificial intelligence meets medical robotics, 2023年发表在Science正刊上的论著: [website](https://www.science.org/doi/abs/10.1126/science.adj3312)
+ +* 达芬奇手术机器人是最为常用的外科手术机器人，对于这类机器人自主技能操作的研究最为广泛 + * 通过模仿学习在达芬奇机器人上学习外科手术操作任务 Surgical Robot Transformer (SRT): [website](https://surgical-robot-transformer.github.io/)
+ * Domain-specific Simulators - 手术机器人技能学习领域的模拟器 + * SurRoL: RL-Centered and dVRK Compatible Platform for Surgical Robot Learning [website](https://med-air.github.io/SurRoL/)
+ * Surgical Gym: A high-performance GPU-based platform for surgical robot learning (ICRA 2024, work in progress, based on NVIDIA Omniverse): [website](https://github.com/SamuelSchmidgall/SurgicalGym)
+ * ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity (ICRA 2024, based on NVIDIA Omniverse): [website](https://orbit-surgical.github.io/)
+ +* 连续体和软体手术机器人作为柔性医疗机器人的重要分支，凭借其独特的结构设计和材料特性，在微创介入诊疗领域展现出显著优势。它们能够灵活进入人体狭窄腔体，实现精准操作，同时最大限度地减小手术创口，降低患者术后恢复时间及感染风险，为现代微创手术提供了创新性的技术解决方案。 + * 连续体机器人在医疗领域的应用 (Nabil Simaan; Howie Choset等): [Continuum Robots for Medical Interventions](https://ieeexplore.ieee.org/abstract/document/9707607)
+ * 软体手术机器人在微创介入手术中的应用 (ka-wai Kwok; Kaspar Althoefer等)： [Soft Robot-Assisted Minimally Invasive Surgery and Interventions: Advances and Outlook](https://ieeexplore.ieee.org/abstract/document/9765966/authors#authors)
# 4. Hardware - 硬件 From 8b4f76105eb79b923ce0b94caceefa5bbccb69c7 Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Fri, 31 Jan 2025 12:52:58 +0800 Subject: [PATCH 13/28] Update README.md --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index cf8a0a1..cddbc99 100644 --- a/README.md +++ b/README.md @@ -276,6 +276,7 @@ Coming Soon... * 连续体和软体手术机器人作为柔性医疗机器人的重要分支，凭借其独特的结构设计和材料特性，在微创介入诊疗领域展现出显著优势。它们能够灵活进入人体狭窄腔体，实现精准操作，同时最大限度地减小手术创口，降低患者术后恢复时间及感染风险，为现代微创手术提供了创新性的技术解决方案。 * 连续体机器人在医疗领域的应用 (Nabil Simaan; Howie Choset等): [Continuum Robots for Medical Interventions](https://ieeexplore.ieee.org/abstract/document/9707607)
* 软体手术机器人在微创介入手术中的应用 (ka-wai Kwok; Kaspar Althoefer等)： [Soft Robot-Assisted Minimally Invasive Surgery and Interventions: Advances and Outlook](https://ieeexplore.ieee.org/abstract/document/9765966/authors#authors)
+> 连续体和软体机器人因其超冗余自由度和高度非线性的结构特性，采用传统的控制与传感方法构建正逆运动学方程时面临显著的计算复杂性和建模局限性。传统方法难以精确描述其多自由度耦合运动及环境交互中的动态响应。为此，基于数据驱动的智能控制方法（如深度学习、强化学习及自适应控制算法）成为解决这一问题的前沿方向。这些方法能够通过大量数据训练，高效学习系统的非线性映射关系，显著提升运动控制的精度、自适应性和鲁棒性，为复杂医疗场景下的机器人操作提供了更为可靠的技术支撑。 # 4. Hardware - 硬件 From a0bfa2323af08fd74acbfb5d9b08ea139a748ed0 Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Fri, 31 Jan 2025 12:57:04 +0800 Subject: [PATCH 14/28] Update README.md --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index cddbc99..fe813b4 100644 --- a/README.md +++ b/README.md @@ -277,6 +277,7 @@ Coming Soon... * 连续体机器人在医疗领域的应用 (Nabil Simaan; Howie Choset等): [Continuum Robots for Medical Interventions](https://ieeexplore.ieee.org/abstract/document/9707607)
* 软体手术机器人在微创介入手术中的应用 (ka-wai Kwok; Kaspar Althoefer等)： [Soft Robot-Assisted Minimally Invasive Surgery and Interventions: Advances and Outlook](https://ieeexplore.ieee.org/abstract/document/9765966/authors#authors)
> 连续体和软体机器人因其超冗余自由度和高度非线性的结构特性，采用传统的控制与传感方法构建正逆运动学方程时面临显著的计算复杂性和建模局限性。传统方法难以精确描述其多自由度耦合运动及环境交互中的动态响应。为此，基于数据驱动的智能控制方法（如深度学习、强化学习及自适应控制算法）成为解决这一问题的前沿方向。这些方法能够通过大量数据训练，高效学习系统的非线性映射关系，显著提升运动控制的精度、自适应性和鲁棒性，为复杂医疗场景下的机器人操作提供了更为可靠的技术支撑。 + * IROS 2024大会Program Chair新加坡国立大学Cecilia Laschi教授的论著: [Learning-Based Control Strategies for Soft Robots: Theory, Achievements, and Future Challenges](https://ieeexplore.ieee.org/abstract/document/10136428)
# 4. Hardware - 硬件 From 9e05ce9211ee87b467adb981079b0709f33e081b Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Fri, 31 Jan 2025 12:58:55 +0800 Subject: [PATCH 15/28] Update README.md --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index fe813b4..084dcec 100644 --- a/README.md +++ b/README.md @@ -278,6 +278,7 @@ Coming Soon... * 软体手术机器人在微创介入手术中的应用 (ka-wai Kwok; Kaspar Althoefer等)： [Soft Robot-Assisted Minimally Invasive Surgery and Interventions: Advances and Outlook](https://ieeexplore.ieee.org/abstract/document/9765966/authors#authors)
> 连续体和软体机器人因其超冗余自由度和高度非线性的结构特性，采用传统的控制与传感方法构建正逆运动学方程时面临显著的计算复杂性和建模局限性。传统方法难以精确描述其多自由度耦合运动及环境交互中的动态响应。为此，基于数据驱动的智能控制方法（如深度学习、强化学习及自适应控制算法）成为解决这一问题的前沿方向。这些方法能够通过大量数据训练，高效学习系统的非线性映射关系，显著提升运动控制的精度、自适应性和鲁棒性，为复杂医疗场景下的机器人操作提供了更为可靠的技术支撑。 * IROS 2024大会Program Chair新加坡国立大学Cecilia Laschi教授的论著: [Learning-Based Control Strategies for Soft Robots: Theory, Achievements, and Future Challenges](https://ieeexplore.ieee.org/abstract/document/10136428)
+ * 数据驱动方法在软机器人建模与控制中的应用: [Data-driven methods applied to soft robot modeling and control: A review](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=10477253)
# 4. Hardware - 硬件 From 71925e29dbd43e6c6e60df8e6e06b0da10791e50 Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Sat, 1 Feb 2025 00:19:27 +0800 Subject: [PATCH 16/28] Update README.md --- README.md | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 084dcec..57743b3 100644 --- a/README.md +++ b/README.md @@ -248,6 +248,8 @@ CS231n (斯坦福计算机视觉课程): [website](https://cs231n.stanford.edu/s > 具身智能的蓬勃发展也在驱动着医疗服务模式的深刻变革。具身智能+医疗作为一个跨学科且快速发展的研究领域，是涵盖了人工智能算法、机器人技术和生物医学的交叉学科研究方向。 #### 3.6.1.1 MLLM for Medical - 多模态大语言模型在医学中的应用 +* 用于医学影像分析的通用人工智能综述: [website](https://arxiv.org/pdf/2306.05480)
+* 医学影像的通用分割模型-MedSAM： [website](https://www.nature.com/articles/s41467-024-44824-z.pdf)
* SkinGPT-4 for dermatological diagnosis: [website](https://www.nature.com/articles/s41467-024-50043-3)
* PneumoLLM for pneumoconiosis diagnosis: [website](https://www.sciencedirect.com/science/article/abs/pii/S1361841524001737)
* BiomedGPT: [website](https://github.com/taokz/BiomedGPT)
@@ -256,7 +258,8 @@ CS231n (斯坦福计算机视觉课程): [website](https://cs231n.stanford.edu/s * PathChat (哈佛医学院Faisal Mahmood教授团队的病理大模型。临床上，病理被称为诊断的金标准): [website](https://www.nature.com/articles/s41586-024-07618-3)
* DeepDR-LLM (糖尿病视网膜病变 (DR)的专科垂域多模态大模型): [website](https://www.nature.com/articles/s41591-024-03139-8)
* VisionFM (通用眼科人工智能的多模式多任务视觉基础模型): [website](https://ai.nejm.org/doi/full/10.1056/AIoa2300221)
-Coming Soon... +* Medical-CXR-VQA 用于医学视觉问答任务的大规模胸部 X 光数据集: [website](https://github.com/Holipori/Medical-CXR-VQA)
+
@@ -278,6 +281,7 @@ Coming Soon... * 软体手术机器人在微创介入手术中的应用 (ka-wai Kwok; Kaspar Althoefer等)： [Soft Robot-Assisted Minimally Invasive Surgery and Interventions: Advances and Outlook](https://ieeexplore.ieee.org/abstract/document/9765966/authors#authors)
> 连续体和软体机器人因其超冗余自由度和高度非线性的结构特性，采用传统的控制与传感方法构建正逆运动学方程时面临显著的计算复杂性和建模局限性。传统方法难以精确描述其多自由度耦合运动及环境交互中的动态响应。为此，基于数据驱动的智能控制方法（如深度学习、强化学习及自适应控制算法）成为解决这一问题的前沿方向。这些方法能够通过大量数据训练，高效学习系统的非线性映射关系，显著提升运动控制的精度、自适应性和鲁棒性，为复杂医疗场景下的机器人操作提供了更为可靠的技术支撑。 * IROS 2024大会Program Chair新加坡国立大学Cecilia Laschi教授的论著: [Learning-Based Control Strategies for Soft Robots: Theory, Achievements, and Future Challenges](https://ieeexplore.ieee.org/abstract/document/10136428)
+ * 软体机器人中具身智能物理建模简明指南[A concise guide to modelling the physics of embodied intelligence in soft robotics](https://inria.hal.science/hal-03921606/document)
* 数据驱动方法在软机器人建模与控制中的应用: [Data-driven methods applied to soft robot modeling and control: A review](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=10477253)
# 4. Hardware - 硬件 From a9c3aa2c09ca02e4d0569589f87a584bdb143351 Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Sat, 1 Feb 2025 00:20:29 +0800 Subject: [PATCH 17/28] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 57743b3..c2d7b39 100644 --- a/README.md +++ b/README.md @@ -281,7 +281,7 @@ CS231n (斯坦福计算机视觉课程): [website](https://cs231n.stanford.edu/s * 软体手术机器人在微创介入手术中的应用 (ka-wai Kwok; Kaspar Althoefer等)： [Soft Robot-Assisted Minimally Invasive Surgery and Interventions: Advances and Outlook](https://ieeexplore.ieee.org/abstract/document/9765966/authors#authors)
> 连续体和软体机器人因其超冗余自由度和高度非线性的结构特性，采用传统的控制与传感方法构建正逆运动学方程时面临显著的计算复杂性和建模局限性。传统方法难以精确描述其多自由度耦合运动及环境交互中的动态响应。为此，基于数据驱动的智能控制方法（如深度学习、强化学习及自适应控制算法）成为解决这一问题的前沿方向。这些方法能够通过大量数据训练，高效学习系统的非线性映射关系，显著提升运动控制的精度、自适应性和鲁棒性，为复杂医疗场景下的机器人操作提供了更为可靠的技术支撑。 * IROS 2024大会Program Chair新加坡国立大学Cecilia Laschi教授的论著: [Learning-Based Control Strategies for Soft Robots: Theory, Achievements, and Future Challenges](https://ieeexplore.ieee.org/abstract/document/10136428)
- * 软体机器人中具身智能物理建模简明指南[A concise guide to modelling the physics of embodied intelligence in soft robotics](https://inria.hal.science/hal-03921606/document)
+ * 软体机器人中具身智能物理建模简明指南（也是出自NUS Cecilia教授团队）: [A concise guide to modelling the physics of embodied intelligence in soft robotics](https://inria.hal.science/hal-03921606/document)
* 数据驱动方法在软机器人建模与控制中的应用: [Data-driven methods applied to soft robot modeling and control: A review](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=10477253)
# 4. Hardware - 硬件 From 12d812d187dc7238584bd69276a7a1e44e22104e Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Sat, 1 Feb 2025 00:21:22 +0800 Subject: [PATCH 18/28] Update README.md --- README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index c2d7b39..f2d2b99 100644 --- a/README.md +++ b/README.md @@ -255,9 +255,9 @@ CS231n (斯坦福计算机视觉课程): [website](https://cs231n.stanford.edu/s * BiomedGPT: [website](https://github.com/taokz/BiomedGPT)
* LLaVA-Med: [website](https://github.com/microsoft/LLaVA-Med?tab=readme-ov-file)
* RoboNurse-VLA: [website](https://robonurse-vla.github.io)
-* PathChat (哈佛医学院Faisal Mahmood教授团队的病理大模型。临床上，病理被称为诊断的金标准): [website](https://www.nature.com/articles/s41586-024-07618-3)
-* DeepDR-LLM (糖尿病视网膜病变 (DR)的专科垂域多模态大模型): [website](https://www.nature.com/articles/s41591-024-03139-8)
-* VisionFM (通用眼科人工智能的多模式多任务视觉基础模型): [website](https://ai.nejm.org/doi/full/10.1056/AIoa2300221)
+* PathChat 哈佛医学院Faisal Mahmood教授团队的病理大模型。临床上，病理被称为诊断的金标准: [website](https://www.nature.com/articles/s41586-024-07618-3)
+* DeepDR-LLM 糖尿病视网膜病变 (DR)的专科垂域多模态大模型: [website](https://www.nature.com/articles/s41591-024-03139-8)
+* VisionFM 通用眼科人工智能的多模式多任务视觉基础模型: [website](https://ai.nejm.org/doi/full/10.1056/AIoa2300221)
* Medical-CXR-VQA 用于医学视觉问答任务的大规模胸部 X 光数据集: [website](https://github.com/Holipori/Medical-CXR-VQA)
From 9e6de40310197b3f1def083c1adb4d3277af4287 Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Sat, 1 Feb 2025 00:22:31 +0800 Subject: [PATCH 19/28] Update README.md --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index f2d2b99..d830185 100644 --- a/README.md +++ b/README.md @@ -405,6 +405,7 @@ Coming Soon ！ | [CoppeliaSim](https://www.coppeliarobotics.com/) | [RLBench](https://github.com/stepjam/RLBench)
[PerAct2](https://bimanual.github.io/)
[COLOSSEUM](https://robot-colosseum.github.io/) | | [PyBullet](https://pybullet.org/wordpress/) | [Calvin](https://github.com/mees/calvin?tab=readme-ov-file)
[Ravens](https://github.com/google-research/ravens)
[VimaBench](https://github.com/vimalabs/VimaBench) | | [Genesis](https://genesis-embodied-ai.github.io/) || +| [SOFA](https://github.com/sofa-framework/sofa/) ||
From 3da63f281ec4bf6b29c50e25df49d9aa7c56a2f3 Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Sat, 1 Feb 2025 00:23:35 +0800 Subject: [PATCH 20/28] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index d830185..41eebb1 100644 --- a/README.md +++ b/README.md @@ -405,7 +405,7 @@ Coming Soon ！ | [CoppeliaSim](https://www.coppeliarobotics.com/) | [RLBench](https://github.com/stepjam/RLBench)
[PerAct2](https://bimanual.github.io/)
[COLOSSEUM](https://robot-colosseum.github.io/) | | [PyBullet](https://pybullet.org/wordpress/) | [Calvin](https://github.com/mees/calvin?tab=readme-ov-file)
[Ravens](https://github.com/google-research/ravens)
[VimaBench](https://github.com/vimalabs/VimaBench) | | [Genesis](https://genesis-embodied-ai.github.io/) || -| [SOFA](https://github.com/sofa-framework/sofa/) || +| [SOFA](https://github.com/sofa-framework/sofa/) (常用于软体机器人的仿真)||
From 627251212bbd781db4fd3af053ca679053cf4033 Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Sat, 1 Feb 2025 00:24:02 +0800 Subject: [PATCH 21/28] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 41eebb1..8179dd9 100644 --- a/README.md +++ b/README.md @@ -379,7 +379,7 @@ Coming Soon ！ | [加速进化](https://boosterobotics.com/zh/) | [Booster T1人形](https://boosterobotics.com/zh/store/)| | | [青龙机器人](https://www.openloong.net/) | | | | [科技云深处](https://www.deeprobotics.cn/) | [绝影X30四足机器人](https://www.deeprobotics.cn/robot/index/product3.html)
[Dr.01人形机器人](https://www.deeprobotics.cn/robot/index/humanoid.html) | | -| [松应科技)](http://www.orca3d.cn/) | | 具身智能仿真平台供应商 | +| [松应科技](http://www.orca3d.cn/) | | 具身智能仿真平台供应商 | | [光轮智能](https://lightwheel.net/) | | 具身智能数据平台 | | [智元机器人](https://www.zhiyuan-robot.com/about/167.html) | [A2人形机器人](https://www.zhiyuan-robot.com/products/A2)
[A2-D数据采集机器人（轮式人形）](https://www.zhiyuan-robot.com/products/A2_D) | | | [Nvidia](https://www.nvidia.cn/industries/robotics/) | | 具身智能基建公司 | From a0976025ce13201a114e7afb5edd507f710e5cb2 Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Sat, 1 Feb 2025 00:27:09 +0800 Subject: [PATCH 22/28] Update README.md --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index 8179dd9..777225e 100644 --- a/README.md +++ b/README.md @@ -250,6 +250,7 @@ CS231n (斯坦福计算机视觉课程): [website](https://cs231n.stanford.edu/s #### 3.6.1.1 MLLM for Medical - 多模态大语言模型在医学中的应用 * 用于医学影像分析的通用人工智能综述: [website](https://arxiv.org/pdf/2306.05480)
* 医学影像的通用分割模型-MedSAM： [website](https://www.nature.com/articles/s41467-024-44824-z.pdf)
+* 2024盘点：医学AI大模型，从通用视觉到医疗影像: [NEJM医学前沿](https://mp.weixin.qq.com/s?__biz=MzIxNTc4NzU0MQ==&mid=2247550230&idx=1&sn=6baa8dcba12f3f70f4c8205a0f23b6a0&chksm=966df4ca45c8cbcaa0a5d2e42fbb4de92e6881f92981071ce7fda3bd1e13e4715f92415a9258&scene=27)
* SkinGPT-4 for dermatological diagnosis: [website](https://www.nature.com/articles/s41467-024-50043-3)
* PneumoLLM for pneumoconiosis diagnosis: [website](https://www.sciencedirect.com/science/article/abs/pii/S1361841524001737)
* BiomedGPT: [website](https://github.com/taokz/BiomedGPT)
From eb93da0621f512feb08c568677663300b4aaa6e9 Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Sat, 1 Feb 2025 00:32:22 +0800 Subject: [PATCH 23/28] Update README.md --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index 777225e..5c7d0d8 100644 --- a/README.md +++ b/README.md @@ -251,6 +251,7 @@ CS231n (斯坦福计算机视觉课程): [website](https://cs231n.stanford.edu/s * 用于医学影像分析的通用人工智能综述: [website](https://arxiv.org/pdf/2306.05480)
* 医学影像的通用分割模型-MedSAM： [website](https://www.nature.com/articles/s41467-024-44824-z.pdf)
* 2024盘点：医学AI大模型，从通用视觉到医疗影像: [NEJM医学前沿](https://mp.weixin.qq.com/s?__biz=MzIxNTc4NzU0MQ==&mid=2247550230&idx=1&sn=6baa8dcba12f3f70f4c8205a0f23b6a0&chksm=966df4ca45c8cbcaa0a5d2e42fbb4de92e6881f92981071ce7fda3bd1e13e4715f92415a9258&scene=27)
+* 医疗领域基础模型的发展机遇与挑战(HKUST陈浩综述): [website](https://arxiv.org/pdf/2404.03264)
* SkinGPT-4 for dermatological diagnosis: [website](https://www.nature.com/articles/s41467-024-50043-3)
* PneumoLLM for pneumoconiosis diagnosis: [website](https://www.sciencedirect.com/science/article/abs/pii/S1361841524001737)
* BiomedGPT: [website](https://github.com/taokz/BiomedGPT)
From ef58ca7edfd6bf72ce2d213f1aecd031294542b4 Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Sat, 1 Feb 2025 00:33:21 +0800 Subject: [PATCH 24/28] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 5c7d0d8..a423e7f 100644 --- a/README.md +++ b/README.md @@ -251,7 +251,7 @@ CS231n (斯坦福计算机视觉课程): [website](https://cs231n.stanford.edu/s * 用于医学影像分析的通用人工智能综述: [website](https://arxiv.org/pdf/2306.05480)
* 医学影像的通用分割模型-MedSAM： [website](https://www.nature.com/articles/s41467-024-44824-z.pdf)
* 2024盘点：医学AI大模型，从通用视觉到医疗影像: [NEJM医学前沿](https://mp.weixin.qq.com/s?__biz=MzIxNTc4NzU0MQ==&mid=2247550230&idx=1&sn=6baa8dcba12f3f70f4c8205a0f23b6a0&chksm=966df4ca45c8cbcaa0a5d2e42fbb4de92e6881f92981071ce7fda3bd1e13e4715f92415a9258&scene=27)
-* 医疗领域基础模型的发展机遇与挑战(HKUST陈浩综述): [website](https://arxiv.org/pdf/2404.03264)
+* 医疗领域基础模型的发展机遇与挑战: [website](https://arxiv.org/pdf/2404.03264)
* SkinGPT-4 for dermatological diagnosis: [website](https://www.nature.com/articles/s41467-024-50043-3)
* PneumoLLM for pneumoconiosis diagnosis: [website](https://www.sciencedirect.com/science/article/abs/pii/S1361841524001737)
* BiomedGPT: [website](https://github.com/taokz/BiomedGPT)
From 42e228af3d4604c9c4efb4c62a996b447fb196f2 Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Sat, 1 Feb 2025 00:43:18 +0800 Subject: [PATCH 25/28] Update README.md --- README.md | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index a423e7f..5c35fb4 100644 --- a/README.md +++ b/README.md @@ -284,7 +284,7 @@ CS231n (斯坦福计算机视觉课程): [website](https://cs231n.stanford.edu/s > 连续体和软体机器人因其超冗余自由度和高度非线性的结构特性，采用传统的控制与传感方法构建正逆运动学方程时面临显著的计算复杂性和建模局限性。传统方法难以精确描述其多自由度耦合运动及环境交互中的动态响应。为此，基于数据驱动的智能控制方法（如深度学习、强化学习及自适应控制算法）成为解决这一问题的前沿方向。这些方法能够通过大量数据训练，高效学习系统的非线性映射关系，显著提升运动控制的精度、自适应性和鲁棒性，为复杂医疗场景下的机器人操作提供了更为可靠的技术支撑。 * IROS 2024大会Program Chair新加坡国立大学Cecilia Laschi教授的论著: [Learning-Based Control Strategies for Soft Robots: Theory, Achievements, and Future Challenges](https://ieeexplore.ieee.org/abstract/document/10136428)
* 软体机器人中具身智能物理建模简明指南（也是出自NUS Cecilia教授团队）: [A concise guide to modelling the physics of embodied intelligence in soft robotics](https://inria.hal.science/hal-03921606/document)
- * 数据驱动方法在软机器人建模与控制中的应用: [Data-driven methods applied to soft robot modeling and control: A review](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=10477253)
+ * 数据驱动方法在软体机器人建模与控制中的应用: [Data-driven methods applied to soft robot modeling and control: A review](https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=10477253)
# 4. Hardware - 硬件 @@ -345,7 +345,10 @@ CS231n (斯坦福计算机视觉课程): [website](https://cs231n.stanford.edu/s * 较为详细的视频课 * [BiliBili FK(1)](https://www.bilibili.com/video/BV1Ve4y127Uf?spm_id_from=333.788.recommend_more_video.0&vd_source=b14220472557bfa1918f3d0faa38bdc1) * [BiliBili FK(2)](https://www.bilibili.com/video/BV1a14y157uL?spm_id_from=333.788.videopod.sections&vd_source=b14220472557bfa1918f3d0faa38bdc1) - + + * 经典教材 + * 《机构学与机器人学的几何基础与旋量代数》 戴建生院士 著 + * 《现代机器人学：机构、规划与控制》凯文·M. 林奇, 朴钟宇著 * 常用的库 * cuRobo：[cuRobo](https://curobo.org/)cuRobo是Nvidia的一个利用 CUDA 加速的机器人库，提供了一套高效的机器人算法，主要通过并行计算显著提升性能，包括但不限于IK，碰撞检测，路径规划等。 From 264ca4295d8e1c0cb3e92d04d0bd4404112a3766 Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Sat, 1 Feb 2025 00:49:22 +0800 Subject: [PATCH 26/28] Update README.md --- README.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 5c35fb4..22c4e35 100644 --- a/README.md +++ b/README.md @@ -330,6 +330,7 @@ CS231n (斯坦福计算机视觉课程): [website](https://cs231n.stanford.edu/s * 基础控制理论: * PID控制：[CSDN](https://blog.csdn.net/name_longming/article/details/115093338) * 彻底搞懂阻抗控制、导纳控制、力位混合控制: [CSDN](https://blog.csdn.net/a735148617/article/details/108564836) + * Modern Control Systems (14th edition), Robert. H. Bishop, Richard. C, Dorf. z: [website](http://103.203.175.90:81/fdScript/RootOfEBooks/E%20Book%20collection%20-%202024/EEE/Modern_control_systems_Robert_H_Bishop_Richard_C_Dorf_z_lib_org.pdf#page=1.00&gsr=0) * 机械臂运动学 > 想要快速了解什么是IK FK的同学可以看这个7分钟的短片，可以对此建立一个粗略的认知：[BiliBili](https://www.bilibili.com/video/BV18E411v7F9/?spm_id_from=333.337.search-card.all.click&vd_source=b14220472557bfa1918f3d0faa38bdc1)
@@ -348,7 +349,8 @@ CS231n (斯坦福计算机视觉课程): [website](https://cs231n.stanford.edu/s * 经典教材 * 《机构学与机器人学的几何基础与旋量代数》 戴建生院士 著 - * 《现代机器人学：机构、规划与控制》凯文·M. 林奇, 朴钟宇著 + * 《现代机器人学：机构、规划与控制》凯文·M. 林奇, 朴钟宇 著 + * 《机器人学的现代数学理论基础》丁希仑 著 * 常用的库 * cuRobo：[cuRobo](https://curobo.org/)cuRobo是Nvidia的一个利用 CUDA 加速的机器人库，提供了一套高效的机器人算法，主要通过并行计算显著提升性能，包括但不限于IK，碰撞检测，路径规划等。 From 89156c09b7394bc3c14ffbc616ec7da48b051bd1 Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Sat, 1 Feb 2025 00:50:57 +0800 Subject: [PATCH 27/28] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 22c4e35..2fba1dc 100644 --- a/README.md +++ b/README.md @@ -330,7 +330,7 @@ CS231n (斯坦福计算机视觉课程): [website](https://cs231n.stanford.edu/s * 基础控制理论: * PID控制：[CSDN](https://blog.csdn.net/name_longming/article/details/115093338) * 彻底搞懂阻抗控制、导纳控制、力位混合控制: [CSDN](https://blog.csdn.net/a735148617/article/details/108564836) - * Modern Control Systems (14th edition), Robert. H. Bishop, Richard. C, Dorf. z: [website](http://103.203.175.90:81/fdScript/RootOfEBooks/E%20Book%20collection%20-%202024/EEE/Modern_control_systems_Robert_H_Bishop_Richard_C_Dorf_z_lib_org.pdf#page=1.00&gsr=0) + * Modern Control Systems (14th edition), Robert. H. Bishop, Richard. C, Dorf. z: [Book](http://103.203.175.90:81/fdScript/RootOfEBooks/E%20Book%20collection%20-%202024/EEE/Modern_control_systems_Robert_H_Bishop_Richard_C_Dorf_z_lib_org.pdf#page=1.00&gsr=0) * 机械臂运动学 > 想要快速了解什么是IK FK的同学可以看这个7分钟的短片，可以对此建立一个粗略的认知：[BiliBili](https://www.bilibili.com/video/BV18E411v7F9/?spm_id_from=333.337.search-card.all.click&vd_source=b14220472557bfa1918f3d0faa38bdc1)
From 57ff6a06a54927785dd871d18ce632841ce23f9a Mon Sep 17 00:00:00 2001 From: Tianliang Yao <93028929+Metaphysicist0@users.noreply.github.com> Date: Sat, 1 Feb 2025 00:56:38 +0800 Subject: [PATCH 28/28] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 2fba1dc..cba53d5 100644 --- a/README.md +++ b/README.md @@ -245,7 +245,7 @@ CS231n (斯坦福计算机视觉课程): [website](https://cs231n.stanford.edu/s ### 3.6.1 Embodied AI for Healthcare - 具身智能+医疗 -> 具身智能的蓬勃发展也在驱动着医疗服务模式的深刻变革。具身智能+医疗作为一个跨学科且快速发展的研究领域，是涵盖了人工智能算法、机器人技术和生物医学的交叉学科研究方向。 +> 具身智能技术的迅猛发展正在引领医疗服务模式迈向革命性的新纪元。作为人工智能算法、先进机器人技术与生物医学深度融合的前沿交叉学科，具身智能+医疗这一研究领域不仅突破了传统医疗的边界，更开创了智能化医疗的新范式。其多学科协同创新的特质，正在重塑医疗服务的全流程，为精准医疗、远程诊疗和个性化健康管理带来前所未有的发展机遇，推动医疗行业向更智能、更人性化的方向转型升级。这一领域的突破性进展，标志着医疗科技正迈向一个全新的智能化时代。 #### 3.6.1.1 MLLM for Medical - 多模态大语言模型在医学中的应用 * 用于医学影像分析的通用人工智能综述: [website](https://arxiv.org/pdf/2306.05480)