Full metadata record
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.advisor | 황민호 | - |
| dc.contributor.author | Hakyoon Lee | - |
| dc.date.accessioned | 2024-02-29T21:01:43Z | - |
| dc.date.available | 2024-02-29T21:01:43Z | - |
| dc.date.issued | 2024 | - |
| dc.identifier.uri | http://hdl.handle.net/20.500.11750/48072 | - |
| dc.identifier.uri | http://dgist.dcollection.net/common/orgView/200000730097 | - |
| dc.description | Surgery Automation; Suturing Automation; Reinforcement Learning; Deep Q-learning; Autonomous Regrasping; Visual servo control; Robot calibration | - |
| dc.description.tableofcontents | Ⅰ. Introduction 1 1.1 The Necessity of Suturing Automation 1 1.2 Handover Automation Methods 1 1.3.1 Testing in a Real-World Environment 1 1.3.2 Testing in a Real-World Environment 2 1.3.3 Testing in a Real-World Environment · 2 Ⅱ. Surgical robot system 5 2.1 robot system component 5 2.2 Mechanical design 5 2.3 Remote Center of Motion mechanism 8 2.4 Remote Kinematics · 8 Ⅲ. Calibration 11 3.1 RGBD camera calibration · 11 3.2 Robot position control error calibration · 16 Ⅳ. Reinforcement Learning algorithm 17 4.1 Deep Q-Learning algorithm 17 4.2 State definition 20 4.3 Action definition 21 4.4 Reward definition 21 4.5 Model experiment · 22 Ⅴ. Real robot test 26 5.1.1 Task space control 26 5.2.1 Visual Servo control 29 5.2.2 Needle pose estimation 30 5.2.3 Needle grasping using RGBD camera 32 5.2.4 Experimental result · 32 VI. Conclusion · 34 |
- |
| dc.format.extent | 37 | - |
| dc.language | eng | - |
| dc.publisher | DGIST | - |
| dc.title | Optimal Handover of Surgical Needle Using Reinforcement Learning for Suturing Automation | - |
| dc.type | Thesis | - |
| dc.identifier.doi | 10.22677/THESIS.200000730097 | - |
| dc.description.degree | Master | - |
| dc.contributor.department | Department of Robotics and Mechatronics Engineering | - |
| dc.contributor.coadvisor | Sang Hyun Park | - |
| dc.date.awarded | 2024-02-01 | - |
| dc.publisher.location | Daegu | - |
| dc.description.database | dCollection | - |
| dc.citation | XT.RM이92 202402 | - |
| dc.date.accepted | 2024-01-30 | - |
| dc.contributor.alternativeDepartment | 로봇및기계전자공학과 | - |
| dc.subject.keyword | Surgery Automation | - |
| dc.subject.keyword | Suturing Automation | - |
| dc.subject.keyword | Reinforcement Learning | - |
| dc.subject.keyword | Deep Q-learning | - |
| dc.subject.keyword | Autonomous Regrasping | - |
| dc.subject.keyword | Visual servo control | - |
| dc.subject.keyword | Robot calibration | - |
| dc.contributor.affiliatedAuthor | Hakyoon Lee | - |
| dc.contributor.affiliatedAuthor | Minho Hwang | - |
| dc.contributor.affiliatedAuthor | Sang Hyun Park | - |
| dc.contributor.alternativeName | 이학윤 | - |
| dc.contributor.alternativeName | Minho Hwang | - |
| dc.contributor.alternativeName | 박상현 | - |
| dc.rights.embargoReleaseDate | 2025-02-28 | - |
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