相关论文: RL-Based Guidance in Outpatient Hysteroscopy Train…

In this work, we propose a hierarchical reinforcement learning (HRL) structure which is capable of performing autonomous vehicle planning tasks in simulated environments with multiple sub-goals. In this hierarchical structure, the network…

Robotic systems are nowadays capable of solving complex navigation tasks. However, their capabilities are limited to the knowledge of the designer and consequently lack generalizability to initially unconsidered situations. This makes deep…

Clinical reasoning demands multi-step interactions -- gathering patient history, ordering tests, interpreting results, and making safe treatment decisions -- yet a unified training environment provides the breadth of clinical domains and…

Real-world reinforcement learning (RL) environments, whether in robotics or industrial settings, often involve non-visual observations and require not only efficient but also reliable and thus interpretable and flexible RL approaches. To…

Over the years, complex control approaches have been developed to control the motion of a bicycle. Reinforcement Learning (RL), a branch of machine learning, promises easy deployment of so-called agents. Deployed agents are increasingly…

Purpose: To report the feasibility and the safety of a surgeon-controlled robotic endoscope holder in laparoscopic surgery. Materials and methods: From March 2010 to September 2010, 20 patients were enrolled prospectively to undergo a…

Solving robotic navigation tasks via reinforcement learning (RL) is challenging due to their sparse reward and long decision horizon nature. However, in many navigation tasks, high-level (HL) task representations, like a rough floor plan,…

The teleoperation of robotic systems in medical applications requires stable and convenient visual feedback for the operator. The most accessible approach to delivering visual information from the remote area is using cameras to transmit a…

Improved surgical skill is generally associated with improved patient outcomes, although assessment is subjective; labour-intensive; and requires domain specific expertise. Automated data driven metrics can alleviate these difficulties, as…

In real-world tasks, reinforcement learning (RL) agents frequently encounter situations that are not present during training time. To ensure reliable performance, the RL agents need to exhibit robustness against worst-case situations. The…

Hierarchical reinforcement learning has been a compelling approach for achieving goal directed behavior over long sequences of actions. However, it has been challenging to implement in realistic or open-ended environments. A main challenge…

In reinforcement learning (RL) research, simulations enable benchmarks between algorithms, as well as prototyping and hyper-parameter tuning of agents. In order to promote RL both in research and real-world applications, frameworks are…

Deep learning has enabled great strides in abdominal multi-organ segmentation, even surpassing junior oncologists on common cases or organs. However, robustness on corner cases and complex organs remains a challenging open problem for…

Skull base surgery is a demanding field in which surgeons operate in and around the skull while avoiding critical anatomical structures including nerves and vasculature. While image-guided surgical navigation is the prevailing standard,…

Phase recognition plays an essential role for surgical workflow analysis in computer assisted intervention. Transformer, originally proposed for sequential data modeling in natural language processing, has been successfully applied to…

We examine five setups where an agent (or two agents) seeks to explore unknown environment without any prior information. Although seemingly very different, all of them can be formalized as Reinforcement Learning (RL) problems in hyperbolic…

High-precision surface defect detection in manufacturing is essential for ensuring quality control. Laser triangulation profilometric sensors are key to this process, providing detailed and accurate surface measurements over a line. To…

Robotic-assisted procedures offer numerous advantages over traditional approaches, including improved dexterity, reduced fatigue, minimized trauma, and superior outcomes. However, the main challenge of these systems remains the poor…

We consider offline reinforcement learning (RL) methods in possibly nonstationary environments. Many existing RL algorithms in the literature rely on the stationarity assumption that requires the system transition and the reward function to…

In this work, we investigate laparoscopic camera motion automation through imitation learning from retrospective videos of laparoscopic interventions. A novel method is introduced that learns to augment a surgeon's behavior in image space…