Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 10, issue 1
Articles | Volume 10, issue 1
https://doi.org/10.5194/ms-10-119-2019
© Author(s) 2019. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-10-119-2019
© Author(s) 2019. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 10, issue 1
Research article
 | 
03 Apr 2019
Research article |  | 03 Apr 2019

Laparoscope arm automatic positioning for robot-assisted surgery based on reinforcement learning

Lingtao Yu, Xiaoyan Yu, Xiao Chen, and Fengfeng Zhang

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Short summary
In this paper, the preoperative planning algorithm is proposed, which makes the laparoscope provide a reasonable initial visual field. The algorithm offers significant improvements in planning time and quality for robot-assisted laparoscopic surgery. The improved method which combines the preoperative planning algorithm with deep reinforcement learning algorithm is applied to laparoscope arm automatic positioning. The algorithm provides a basis for the robot-assisted laparoscopic surgery.
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