3 papers
cs.RO2021
Learning from Demonstrations for Autonomous Soft-tissue Retraction
Ameya Pore, Eleonora Tagliabue, Marco Piccinelli +3
The current research focus in Robot-Assisted Minimally Invasive Surgery (RAMIS) is directed towards increasing the level of robot autonomy, to place surgeons in a supervisory posit…
cs.RO2021
Safe Reinforcement Learning using Formal Verification for Tissue Retraction in Autonomous Robotic-Assisted Surgery
Ameya Pore, Davide Corsi, Enrico Marchesini +4
Deep Reinforcement Learning (DRL) is a viable solution for automating repetitive surgical subtasks due to its ability to learn complex behaviours in a dynamic environment. This tas…
cs.CV2018
A Recurrent Convolutional Neural Network Approach for Sensorless Force Estimation in Robotic Surgery
Arturo Marban, Vignesh Srinivasan, Wojciech Samek +2
Providing force feedback as relevant information in current Robot-Assisted Minimally Invasive Surgery systems constitutes a technological challenge due to the constraints imposed b…