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cs.RO2025
Hybrid Deep Reinforcement Learning for Radio Tracer Localisation in Robotic-assisted Radioguided Surgery
Hanyi Zhang, Kaizhong Deng, Zhaoyang Jacopo Hu +2
Radioguided surgery, such as sentinel lymph node biopsy, relies on the precise localization of radioactive targets by non-imaging gamma/beta detectors. Manual radioactive target de…
cs.RO2025
Automatic Robotic-Assisted Diffuse Reflectance Spectroscopy Scanning System
Kaizhong Deng, Christopher J. Peters, George P. Mylonas +1
Diffuse Reflectance Spectroscopy (DRS) is a well-established optical technique for tissue composition assessment which has been clinically evaluated for tumour detection to ensure…
cs.RO2024
Memorized action chunking with Transformers: Imitation learning for vision-based tissue surface scanning
Bochen Yang, Kaizhong Deng, Christopher J Peters +2
Optical sensing technologies are emerging technologies used in cancer surgeries to ensure the complete removal of cancerous tissue. While point-wise assessment has many potential a…