Robotic Constrained Imitation Learning for the Peg Transfer Task in Fundamentals of Laparoscopic Surgery

arXiv:2405.03440v1 Announce Type: cross
Abstract: In this study, we present an implementation strategy for a robot that performs peg transfer tasks in Fundamentals of Laparoscopic Surgery (FLS) via imitation learning, aimed at the development of an autonomous robot for laparoscopic surgery. Robotic laparoscopic surgery presents two main challenges: (1) the need to manipulate forceps using ports established on the body surface as fulcrums, and (2) difficulty in perceiving depth information when working with a monocular camera that displays its images …

abstract arxiv autonomous autonomous robot cs.ai cs.lg cs.ro development fundamentals imitation learning implementation robot robotic strategy study surgery tasks transfer type via