Autonomous tumor palpation and resection path planning using tactile array sensor and deep reinforcement learning for surgical robot.
Feng JuHaoran YeDongming BaiYingxuan ZhangChengjun ZhuYanfei CaoWenchao YuePublished in: ROBIO (2022)
Keyphrases
- path planning
- ground vehicles
- reinforcement learning
- minimally invasive surgery
- surgical robot
- intraoperative
- brain tumors
- autonomous navigation
- autonomous vehicles
- mobile robot
- minimally invasive
- image guided
- unmanned aerial vehicles
- path planning algorithm
- collision avoidance
- degrees of freedom
- surgical procedures
- multi robot
- robot assisted
- dynamic environments
- obstacle avoidance
- motion planning
- path finding
- model free
- robot control
- x ray
- dynamic programming
- computer assisted
- real time
- search and rescue
- end effector
- optimal path
- force feedback
- robotic systems
- multiple robots
- configuration space
- magnetic resonance images
- autonomous systems
- control algorithm
- d objects
- mr images
- medical image analysis
- real robot