Design and development of an endoscopic robotic system and deep reinforcement learning path planning algorithm for fine-needle biopsy of liver lesions
Abstract This paper presents the design, development and evaluation of a novel robotic platform for endoscopic ultrasound-guided fine-needle biopsy of liver lesions. The system combines a four degrees-of-freedom (DoF) two-segment tendon-driven continuum robot (TDCR) endoscope with a two DoF superelastic nickel–titanium...
Raghav Khanna, Nikola Fischer, Zhenting Du et al.
· International Journal of Com... · 0 citations