制約付き模倣学習によるロボットの腹腔鏡手術の基本技能訓練

抄録

Toward robotic laparoscopic surgery, we develop a robot that can perform a peg transfer task in Fundamentals of Laparoscopic Surgery (FLS) using imitation learning. There are two problems: (1) the forceps must be operated using laparoscopic ports as fulcrums, and (2) the depth information cannot be recognized due to a monocular endoscope. We solve (1) by generating arm motions with laparoscopic port constraints, and (2) by collecting data with constraints generated from one exemplary motion for imitation learning. We implemented these methods with two arm robots and confirmed the effectiveness.