Cooperative Assistance in Robotic Surgery through Multi-Agent Reinforcement Learning
Paul Maria Scheikl,Balázs Gyenes,Tornike Davitashvili,Rayan Younis,André Schulze,Beat P. Müller-Stich,Gerhard Neumann,Martin Wagner,Franziska Mathis-Ullrich,Paul Maria Scheikl,Balázs Gyenes,Tornike Davitashvili,Rayan Younis,André Schulze,Beat P. Müller-Stich,Gerhard Neumann,Martin Wagner,Franziska Mathis-Ullrich
Cognitive cooperative assistance in robot-assisted surgery holds the potential to increase quality of care in minimally invasive interventions. Automation of surgical tasks promises to reduce the mental exertion and fatigue of surgeons. In this work, multi-agent reinforcement learning is demonstrated to be robust to the distribution shift introduced by pairing a learned policy with a human team me...
