Automation of sub-tasks during robotic surgery is challenging due to the high variability of the surgical scenes intra- and inter-patients. For example, the pick and place task can be executed different times during the same operation and for distinct purposes. Hence, designing automation solutions that can generalise a skill over different contexts becomes hard. All the experiments are conducted using the Pneumatic Attachable Flexible (PAF) rail, a novel surgical tool designed for robotic-assisted intraoperative organ manipulation.

Learning intraoperative organ manipulation with context-based reinforcement learning

De Momi, Elena;
2022-01-01

Abstract

Automation of sub-tasks during robotic surgery is challenging due to the high variability of the surgical scenes intra- and inter-patients. For example, the pick and place task can be executed different times during the same operation and for distinct purposes. Hence, designing automation solutions that can generalise a skill over different contexts becomes hard. All the experiments are conducted using the Pneumatic Attachable Flexible (PAF) rail, a novel surgical tool designed for robotic-assisted intraoperative organ manipulation.
2022
Computer-assisted intervention
Reinforcement learning
Robotic surgery
Surgical automation
Algorithms
Computer Simulation
Humans
Learning
Robotic Surgical Procedures
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1223317
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