Automated Flexible Needle Trajectory Planning for Keyhole Neurosurgery Using Reinforcement Learning.
Jayesh KumarChinmay Satish RautNiravkumar PatelPublished in: IROS (2022)
Keyphrases
- trajectory planning
- image guided
- reinforcement learning
- minimally invasive
- motion planning
- obstacle avoidance
- robot manipulators
- path planning
- dynamic environments
- intraoperative
- prostate cancer
- medical imaging
- computer assisted
- computer aided
- deep brain stimulation
- damage assessment
- state space
- plan recognition
- mobile robot
- learning algorithm
- degrees of freedom
- real time
- multi modal
- control system
- artificial neural networks
- image sequences
- genetic algorithm