3D Perception based Imitation Learning under Limited Demonstration for Laparoscope Control in Robotic Surgery
Bin Li,Ruofeng Wei,Jiaqi Xu,Bo Lu,Chi Hang Yee,Chi Fai Ng,Pheng-Ann Heng,Qi Dou,Yun-Hui Liu,Bin Li,Ruofeng Wei,Jiaqi Xu,Bo Lu,Chi Hang Yee,Chi Fai Ng,Pheng-Ann Heng,Qi Dou,Yun-Hui Liu
Automatic laparoscope motion control is fundamentally important for surgeons to efficiently perform operations. However, its traditional control methods based on tool tracking without considering information hidden in surgical scenes are not intelligent enough, while the latest supervised imitation learning (IL)-based methods require expensive sensor data and suffer from distribution mismatch issu...
