Robotic needle steering in deformable tissues with extreme learning machines
Control strategies for robotic needle steering in soft tissues must account for complex interactions between the needle and the tissue to achieve accurate needle tip positioning. Recent findings show faster robotic command rate can improve the control stability in realistic scenarios. This study proposes the use of Extreme Learning Machines to provide fast commands for robotic needle steering. A synthetic dataset based on the inverse finite element simulation control framework is used to train the model. Results show the model is capable to infer commands 66% faster than the inverse simulation and reaches acceptable precision even on previously unseen trajectories.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
A data-set of piercing needle through deformable objects for Deep Learning from Demonstrations
Many robotic tasks are still teleoperated since automating them is very time consuming and expensive. Robot Learning from Demonstrations (RLfD) can reduce programming time and cost. However, conventional RLfD approaches …
Transformer Based Tissue Classification in Robotic Needle Biopsy
Image-guided minimally invasive robotic surgery is commonly employed for tasks such as needle biopsies or localized therapies. However, the nonlinear deformation of various tissue types presents difficulties for surgeons…
ClassificationEndoGS: Deformable Endoscopic Tissues Reconstruction with Gaussian Splatting
Surgical 3D reconstruction is a critical area of research in robotic surgery, with recent works adopting variants of dynamic radiance fields to achieve success in 3D reconstruction of deformable tissues from single-viewp…
3D ReconstructionAutomated Robotic Needle Puncture for Percutaneous Dilatational Tracheostomy
Percutaneous dilatational tracheostomy (PDT) is frequently performed on patients in intensive care units for prolonged mechanical ventilation. The needle puncture, as the most critical step of PDT, could lead to adverse …
Neural Rendering for Stereo 3D Reconstruction of Deformable Tissues in Robotic Surgery
Reconstruction of the soft tissues in robotic surgery from endoscopic stereo videos is important for many applications such as intra-operative navigation and image-guided robotic surgery automation. Previous works on thi…
3D ReconstructionNeural Rendering