Autonomous Tissue Manipulation via Surgical Robot Using Learning Based Model Predictive Control

Supervisor: Dr.-Ing. Aziza Ben Halima

Tissue Manipulation sounds complicated but is more often applied than you might think in both traditional and modern medicine. It is a frequently used fundamental subtask of any surgical procedures.

It is particularly challenging to automate soft tissue manipulation given the lack of a model which predicts its behavior and also, given the complexity of its dynamics.

Many methods are used in the literature to approach the problem of tissue manipulation and one of these promising methods is using learning based model predictive control.

In this seminar topic, the student needs to understand the robotic learning based model predictive control of tissue manipulation. The student also need to search and present other techniques used in the same field.