Incorporating Prior Knowledge into Reinforcement Learning for Soft Tissue Manipulation with Autonomous Grasping Point Selection.
Xian HeShuai ZhangShanlin YangBo OuyangPublished in: CoRR (2022)
Keyphrases
- soft tissue
- incorporating prior knowledge
- reinforcement learning
- medical images
- finite element
- prior knowledge
- maxillofacial surgery
- magnetic resonance
- manipulation tasks
- deformable models
- soft tissue deformation
- autonomous learning
- minimally invasive surgery
- image registration
- robotic systems
- vision system
- material properties
- data sets
- needle insertion
- service robots
- elastic properties
- automatic segmentation
- graph cuts
- mass spring model