The article discusses the use of robots in surgical procedures, specifically elliptical excisions. It highlights the importance of applying appropriate force levels during surgery and the potential of robots to learn surgical techniques from a limited number of demonstrations. The study uses a parameterised model of the elliptical excision skill and a Bayesian optimization scheme to optimize the excision behavior based on expert ratings and characteristics of excision forces. The results show the proposed framework can align the robot behavior with varying levels of proficiency.
Publication date: 22 Sep 2023
Project Page: Unknown
Paper: https://arxiv.org/pdf/2309.12219
