Final published version
Research output: Contribution to Journal/Magazine › Journal article › peer-review
Research output: Contribution to Journal/Magazine › Journal article › peer-review
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TY - JOUR
T1 - Probabilistic Deep Q Network for real-time path planning in censorious robotic procedures using force sensors
AU - Srinivasu, Parvathaneni Naga
AU - Bhoi, Akash Kumar
AU - Jhaveri, Rutvij H.
AU - Reddy, Gadekallu Thippa
AU - Bilal, Muhammad
PY - 2021/10/31
Y1 - 2021/10/31
N2 - In recent years, enormous advancement has taken place in biomedical engineering, which has paved the way for robot-assisted surgery in various complex surgical procedures. In robotic surgery, the reinforcement-based Temporal Difference (TD) based approach through assistive approaches has tremendous potential. Probabilistic Roadmap (PR) can be used for recognition of the path to the region of interest without any obstacles and, Inverse Kinematics (IK) approach can be used for the accurate approximation of the pixel space to the real-time workspace. Our proposed system would be more effective in approximating the path length, depth evaluation, and less invasive contact force sensor. This article presents a robust algorithm that would assist in robotic surgery for censorious surgeries in real-time. For working on such soft tissues, software-driven procedures and algorithms must be more precise in choosing the optimal path for reaching out to the procedural region. The statistical analysis has proven that the proposed approach would be outperforming under favorable learning rate, discount factor, and the exploration factor.
AB - In recent years, enormous advancement has taken place in biomedical engineering, which has paved the way for robot-assisted surgery in various complex surgical procedures. In robotic surgery, the reinforcement-based Temporal Difference (TD) based approach through assistive approaches has tremendous potential. Probabilistic Roadmap (PR) can be used for recognition of the path to the region of interest without any obstacles and, Inverse Kinematics (IK) approach can be used for the accurate approximation of the pixel space to the real-time workspace. Our proposed system would be more effective in approximating the path length, depth evaluation, and less invasive contact force sensor. This article presents a robust algorithm that would assist in robotic surgery for censorious surgeries in real-time. For working on such soft tissues, software-driven procedures and algorithms must be more precise in choosing the optimal path for reaching out to the procedural region. The statistical analysis has proven that the proposed approach would be outperforming under favorable learning rate, discount factor, and the exploration factor.
KW - Force sensor
KW - Inverse Kinematics
KW - Probabilistic Curve Encoding
KW - Probabilistic Roadmap
KW - Reinforcement technology
KW - Robotic surgery
KW - Temporal Difference
U2 - 10.1007/s11554-021-01122-x
DO - 10.1007/s11554-021-01122-x
M3 - Journal article
AN - SCOPUS:85110690952
VL - 18
SP - 1773
EP - 1785
JO - Journal of Real-Time Image Processing
JF - Journal of Real-Time Image Processing
SN - 1861-8200
IS - 5
ER -