2 papers
cs.RO2019
Toward Synergic Learning for Autonomous Manipulation of Deformable Tissues via Surgical Robots: An Approximate Q-Learning Approach
Sahba Aghajani Pedram, Peter Walker Ferguson, Changyeob Shin +4
In this paper, we present a synergic learning algorithm to address the task of indirect manipulation of an unknown deformable tissue. Tissue manipulation is a common yet challengin…
cs.RO2019
Autonomous Tissue Manipulation via Surgical Robot Using Learning Based Model Predictive Control
Changyeob Shin, Peter Walker Ferguson, Sahba Aghajani Pedram +3
Tissue manipulation is a frequently used fundamental subtask of any surgical procedures, and in some cases it may require the involvement of a surgeon's assistant. The complex dyna…