Sim-to-Real Surgical Robot Learning and Autonomous Planning for Internal Tissue Points Manipulation using Reinforcement Learning.
Yafei OuMahdi TavakoliPublished in: CoRR (2023)
Keyphrases
- reinforcement learning
- autonomous learning
- minimally invasive surgery
- machine learning
- three dimensional
- planning problems
- data points
- action selection
- function approximation
- surgical simulation
- tissue deformation
- point sets
- feature points
- image analysis
- markov decision processes
- motion planning
- soft tissue
- virtual reality
- partially observable
- partial observability
- cooperative
- learning algorithm