Inverse Reinforcement Learning Intra-Operative Path Planning for Steerable Needle.
Alice SegatoMarco Di MarzoSara ZucchelliStefano GalvanRiccardo SecoliElena De MomiPublished in: IEEE Trans. Biomed. Eng. (2022)
Keyphrases
- path planning
- inverse reinforcement learning
- intraoperative
- minimally invasive
- intra operatively
- x ray
- pre operative
- computer assisted
- mobile robot
- preference elicitation
- path planning algorithm
- ct data
- reward function
- obstacle avoidance
- image guided
- dynamic environments
- robot assisted
- multi robot
- needle insertion
- clinical applications
- minimally invasive surgery
- motion planning
- tissue deformation
- degrees of freedom
- trajectory planning
- autonomous vehicles
- autonomous navigation
- collision free
- beating heart
- optimal path
- configuration space
- soft tissue
- search algorithm
- multi agent