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Zhenting Du

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#reinforcement learning Open access Sep 2026

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. · 0 citations

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