Hakyoon Lee. (2024). Optimal Handover of Surgical Needle Using Reinforcement Learning for Suturing Automation. doi: 10.22677/THESIS.200000730097
Type
Thesis
Description
Surgery Automation; Suturing Automation; Reinforcement Learning; Deep Q-learning; Autonomous Regrasping; Visual servo control; Robot calibration
Table Of Contents
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
