Automated Flexible Needle Trajectory Planning for Keyhole Neurosurgery Using Reinforcement Learning
Jayesh Kumar,Chinmay Satish Raut,Niravkumar Patel,Jayesh Kumar,Chinmay Satish Raut,Niravkumar Patel
Planning a safe trajectory for minimally invasive (keyhole) neurosurgery procedures require avoiding critical anatomical structures such as blood vessels and ventricles while optimizing the needle trajectory parameters such as length and curvature to comply with the needle kinematics. In this paper, we propose a reinforcement learning-based method for obtaining kinematically feasible trajectories ...
