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