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Robot-assisted flexible needle insertion using universal distributional deep reinforcement learning

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

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Abstract

Purpose

Flexible needle insertion is an important minimally invasive surgery approach for biopsy and radio-frequency ablation. This approach can minimize intraoperative trauma and improve postoperative recovery. We propose a new path planning framework using multi-goal deep reinforcement learning to overcome the difficulties in uncertain needle–tissue interactions and enhance the robustness of robot-assisted insertion process.

Methods

This framework utilizes a new algorithm called universal distributional Q-learning (UDQL) to learn a stable steering policy and perform risk management by visualizing the learned Q-value distribution. To further improve the robustness, universal value function approximation is leveraged in the training process of UDQL to maximize generalization and connect to diagnosis by adapting fast re-planning and transfer learning.

Results

Computer simulation and phantom experimental results show our proposed framework can securely steer flexible needles with high insertion accuracy and robustness. The framework also improves robustness by providing distribution information to clinicians for diagnosis and decision making during surgery.

Conclusions

Compared with previous methods, the proposed framework can perform multi-target needle insertion through single insertion point qunder continuous state space model with higher accuracy and robustness.

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Acknowledgements

The last author would like to acknowledge the contribution of A/Prof Stephen Chang of Mount Elizabeth Hospital, Singapore for his input on surgeries and medical education.

Funding

The research and development of the prototype Image-guide Radio-frequency Ablation Surgical System was supported in parts by Research Grants from Singapore Agency of Science and Technology (A*Star) and Ministry of Education, Singapore respectively.

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Authors and Affiliations

  1. Department of Mechanical Engineering, National University of Singapore, Singapore, 117575, Singapore

    Xiaoyu Tan, Yonggu Lee, Chin-Boon Chng, Kah-Bin Lim & Chee-Kong Chui

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  1. Xiaoyu Tan
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  2. Yonggu Lee
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  3. Chin-Boon Chng
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  4. Kah-Bin Lim
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  5. Chee-Kong Chui
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Corresponding author

Correspondence to Xiaoyu Tan.

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The authors declare that they have no conflict of interest.

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Informed consent was obtained from all individual participants included in the study.

Human and animal rights

All procedures performed in studies involving human participants were in accordance with the ethical standards of the institutional and/or national research committee and with the 1964 Helsinki declaration and its later amendments or comparable ethical standards.

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Tan, X., Lee, Y., Chng, CB. et al. Robot-assisted flexible needle insertion using universal distributional deep reinforcement learning. Int J CARS 15, 341–349 (2020). https://doi.org/10.1007/s11548-019-02098-7

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  • DOI: https://doi.org/10.1007/s11548-019-02098-7

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