Reinforcement Learning Control of A Novel Magnetic Actuated Flexible-joint Robotic Camera System for Single Incision Laparoscopic Surgery.
Dong XuYuanlin ZhangWenshuai TanHongxing WeiPublished in: ICRA (2021)
Keyphrases
- laparoscopic surgery
- magneto optic
- visual feedback
- robotic systems
- master slave
- visual servoing
- reinforcement learning
- robotic arm
- real time
- robot control
- control loop
- mobile robot
- robot assisted
- control law
- vision system
- control scheme
- magnetic field
- surgical instruments
- minimally invasive surgery
- optimal control
- hand held
- closed loop
- control system
- control strategy
- real robot
- field of view
- path planning
- position and orientation
- operating room
- model free
- autonomous robots
- multiple cameras
- computer vision