Reinforcement Learning Based Manipulation Skill Transferring for Robot-assisted Minimally Invasive Surgery
Hang Su,Yingbai Hu,Zhijun Li,Alois Knoll,Giancarlo Ferrigno,Elena De Momi,Hang Su,Yingbai Hu,Zhijun Li,Alois Knoll,Giancarlo Ferrigno,Elena De Momi
The complexity of surgical operation can be released significantly if surgical robots can learn the manipulation skills by imitation from complex tasks demonstrations such as puncture, suturing, and knotting, etc.. This paper proposes a reinforcement learning algorithm based manipulation skill transferring technique for robot-assisted Minimally Invasive Surgery by Teaching by Demonstration. It emp...
