Reinforcement Learning-Based Control for Collaborative Robotic Brain Retraction

In recent years, the application of AI has expanded rapidly across various fields. However, it has faced challenges in establishing a foothold in medicine, particularly in invasive medical procedures. Medical algorithms and devices must meet strict regulatory standards before they can be approved for use on humans. Additionally, medical robots are often custom-built, leading to high costs. This paper introduces a cost-effective brain retraction robot designed to perform brain retraction procedures. The robot is trained, specifically the Deep Deterministic Policy Gradient (DDPG) algorithm, using reinforcement learning techniques with a brain contact model, offering a more affordable solution for such delicate tasks.