Safe Reinforcement Learning using Formal Verification for Tissue Retraction in Autonomous Robotic-Assisted Surgery.
Ameya PoreDavide CorsiEnrico MarchesiniDiego Dall'AlbaAlicia CasalsAlessandro FarinelliPaolo FioriniPublished in: IROS (2021)
Keyphrases
- formal verification
- robotic assisted
- minimally invasive surgery
- reinforcement learning
- soft tissue
- tissue deformation
- intraoperative
- minimally invasive
- soft tissue deformation
- model checking
- degrees of freedom
- robotic systems
- gaze contingent
- medical images
- symbolic model checking
- deformable models
- finite element
- image guided
- x ray
- surgical procedures
- pre operative
- state space
- beating heart
- motion compensation
- motion tracking
- clinical applications
- magnetic resonance
- user interface