Manipulating Soft Tissues by Deep Reinforcement Learning for Autonomous Robotic Surgery.
Ngoc Duy NguyenThanh NguyenSaeid NahavandiAsim BhattiGlenn GuestPublished in: SysCon (2019)
Keyphrases
- autonomous robotic
- soft tissue
- soft tissue deformation
- reinforcement learning
- surgical simulation
- minimally invasive surgery
- medical images
- semi autonomous
- robotic assisted
- finite element
- tissue deformation
- magnetic resonance
- intraoperative
- fully autonomous
- mass spring model
- deformable models
- image registration
- elastic properties
- automatic segmentation
- haptic feedback
- reinforcement learning algorithms
- markov decision processes
- high fidelity
- minimally invasive
- state space
- computer assisted
- intensity distribution
- biomechanical model
- machine learning
- optimal policy
- surgical procedures
- model free
- real time
- imaging modalities
- mr images
- x ray
- image analysis
- learning algorithm