Lens Capsule Tearing in Cataract Surgery using Reinforcement Learning

Peter RC, Peikert S, Haide L, Pham DXV, Chettaoui T, Tagliabue E, Scheikl P, Fauser J, Hillenbrand M, Neumann G, Mathis-Ullrich F (2024)

Publication Type: Conference contribution

Publication year: 2024

Journal

Proceedings - IEEE International Conference on Robotics and Automation Institute of Electrical and Electronics Engineers

Publisher: Institute of Electrical and Electronics Engineers Inc.

Pages Range: 15501-15508

Conference Proceedings Title: Proceedings - IEEE International Conference on Robotics and Automation

Event location: Yokohama JP

ISBN: 9798350384574

DOI: 10.1109/ICRA57147.2024.10611714

Abstract

Cataract is the leading cause of blindness worldwide with an increasing number of patients due to changing demographics, making automation an important part in future surgical treatment. In this work, we focus on a substep of cataract surgery, the Continuous Curvilinear Capsulorhexis (CCC). With a high complexity, this task is an ideal candidate for Reinforcement Learning (RL) in simulation. First, we present an interactive and physically realistic simulation based on the Finite Element Method (FEM) that mimics the tearing behavior of soft tissue during CCC. Then, we train and evaluate RL models in simulation, demonstrating that the trained policies can complete the CCC in 85% of cases. We also show that applying domain randomization techniques make the policy more robust against changes in geometrical and biomechanical boundary conditions.

Authors with CRIS profile

Steffen Peikert Professur für Robotische Planung und Kognition in der Chirurgie Paul Scheikl Professur für Robotische Planung und Kognition in der Chirurgie Franziska Mathis-Ullrich Professur für Robotische Planung und Kognition in der Chirurgie

Involved external institutions

Carl Zeiss AG DE Germany (DE) Karlsruhe Institute of Technology (KIT) DE Germany (DE)

How to cite

APA:

Peter, R.C., Peikert, S., Haide, L., Pham, D.X.V., Chettaoui, T., Tagliabue, E.,... Mathis-Ullrich, F. (2024). Lens Capsule Tearing in Cataract Surgery using Reinforcement Learning. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 15501-15508). Yokohama, JP: Institute of Electrical and Electronics Engineers Inc..

MLA:

Peter, Rebekka Charlotte, et al. "Lens Capsule Tearing in Cataract Surgery using Reinforcement Learning." Proceedings of the 2024 IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama Institute of Electrical and Electronics Engineers Inc., 2024. 15501-15508.

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