Autonomous Needle Manipulation for Robotic Surgical Suturing Based on Skills Learned from Demonstration
2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)(2021)
摘要
In the future, surgical robots will grant the option of executing surgical tasks autonomously, supervised by the surgeon. We propose a simple framework for learning surgical action primitives that can be used as building blocks for composing more elaborate surgical tasks. Our method is based on Learning from Demonstration (LfD) as this allows us to exploit existing expert knowledge from recordings...
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关键词
Medical robotics,Computer aided software engineering,Instruments,Conferences,Buildings,Surgery,Needles
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