{"id":"https://openalex.org/W3207864249","doi":"https://doi.org/10.1109/iros51168.2021.9636193","title":"Cooperative Assistance in Robotic Surgery through Multi-Agent Reinforcement Learning","display_name":"Cooperative Assistance in Robotic Surgery through Multi-Agent Reinforcement Learning","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3207864249","doi":"https://doi.org/10.1109/iros51168.2021.9636193","mag":"3207864249"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636193","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636193","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2110.04857","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085474167","display_name":"Paul Maria Scheikl","orcid":"https://orcid.org/0000-0002-8079-1425"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Paul Maria Scheikl","raw_affiliation_strings":["Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037406540","display_name":"Bal\u00e1zs Gyenes","orcid":"https://orcid.org/0000-0002-4430-1820"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Balazs Gyenes","raw_affiliation_strings":["Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091702336","display_name":"Tornike Davitashvili","orcid":null},"institutions":[{"id":"https://openalex.org/I2802164966","display_name":"University Hospital Heidelberg","ror":"https://ror.org/013czdx64","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I2802164966"]},{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tornike Davitashvili","raw_affiliation_strings":["Heidelberg University Hospital, Heidelberg, Germany"],"affiliations":[{"raw_affiliation_string":"Heidelberg University Hospital, Heidelberg, Germany","institution_ids":["https://openalex.org/I2802164966","https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058836672","display_name":"Rayan Younis","orcid":"https://orcid.org/0000-0002-7558-8043"},"institutions":[{"id":"https://openalex.org/I2802164966","display_name":"University Hospital Heidelberg","ror":"https://ror.org/013czdx64","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I2802164966"]},{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rayan Younis","raw_affiliation_strings":["Heidelberg University Hospital, Heidelberg, Germany"],"affiliations":[{"raw_affiliation_string":"Heidelberg University Hospital, Heidelberg, Germany","institution_ids":["https://openalex.org/I2802164966","https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025976606","display_name":"Andr\u00e9 Schulze","orcid":"https://orcid.org/0000-0003-2740-2205"},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]},{"id":"https://openalex.org/I2802164966","display_name":"University Hospital Heidelberg","ror":"https://ror.org/013czdx64","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I2802164966"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andre Schulze","raw_affiliation_strings":["Heidelberg University Hospital, Heidelberg, Germany"],"affiliations":[{"raw_affiliation_string":"Heidelberg University Hospital, Heidelberg, Germany","institution_ids":["https://openalex.org/I2802164966","https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008345394","display_name":"Beat P. M\u00fcller\u2010Stich","orcid":"https://orcid.org/0000-0002-8552-8538"},"institutions":[{"id":"https://openalex.org/I2802164966","display_name":"University Hospital Heidelberg","ror":"https://ror.org/013czdx64","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I2802164966"]},{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Beat P. Muller-Stich","raw_affiliation_strings":["Heidelberg University Hospital, Heidelberg, Germany"],"affiliations":[{"raw_affiliation_string":"Heidelberg University Hospital, Heidelberg, Germany","institution_ids":["https://openalex.org/I2802164966","https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110467801","display_name":"Gerhard Neumann","orcid":"https://orcid.org/0000-0002-5483-4225"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Gerhard Neumann","raw_affiliation_strings":["Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027275363","display_name":"Martin Wagner","orcid":"https://orcid.org/0000-0002-9831-9110"},"institutions":[{"id":"https://openalex.org/I2802164966","display_name":"University Hospital Heidelberg","ror":"https://ror.org/013czdx64","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I2802164966"]},{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Wagner","raw_affiliation_strings":["Heidelberg University Hospital, Heidelberg, Germany"],"affiliations":[{"raw_affiliation_string":"Heidelberg University Hospital, Heidelberg, Germany","institution_ids":["https://openalex.org/I2802164966","https://openalex.org/I223822909"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039110908","display_name":"Franziska Mathis-Ullrich","orcid":"https://orcid.org/0000-0001-5239-5305"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Franziska Mathis-Ullrich","raw_affiliation_strings":["Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5085474167"],"corresponding_institution_ids":["https://openalex.org/I102335020"],"apc_list":null,"apc_paid":null,"fwci":1.777,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.88004805,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1859","last_page":"1864"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9800999760627747,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9800999760627747,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9793999791145325,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9761999845504761,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8060249090194702},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5900951623916626},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47651493549346924},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39753612875938416},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3654670715332031}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8060249090194702},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5900951623916626},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47651493549346924},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39753612875938416},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3654670715332031}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros51168.2021.9636193","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636193","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2110.04857","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2110.04857","pdf_url":"https://arxiv.org/pdf/2110.04857","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2110.04857","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2110.04857","pdf_url":"https://arxiv.org/pdf/2110.04857","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/17","score":0.5400000214576721,"display_name":"Partnerships for the goals"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1191599655","https://openalex.org/W1908253641","https://openalex.org/W1990352175","https://openalex.org/W2036781419","https://openalex.org/W2146990154","https://openalex.org/W2151905266","https://openalex.org/W2617547828","https://openalex.org/W2736601468","https://openalex.org/W2736750746","https://openalex.org/W2759213147","https://openalex.org/W2918665764","https://openalex.org/W2923090615","https://openalex.org/W2962938168","https://openalex.org/W2972093249","https://openalex.org/W2973525135","https://openalex.org/W2973815009","https://openalex.org/W2992977009","https://openalex.org/W2995298643","https://openalex.org/W3016327299","https://openalex.org/W3033727525","https://openalex.org/W3093287223","https://openalex.org/W3102313808","https://openalex.org/W3133389372","https://openalex.org/W4288118072","https://openalex.org/W4295598622","https://openalex.org/W6627932998","https://openalex.org/W6640044251","https://openalex.org/W6737849119","https://openalex.org/W6741002519","https://openalex.org/W6745357043","https://openalex.org/W6749304979","https://openalex.org/W6760425463","https://openalex.org/W6767579722","https://openalex.org/W6767919266","https://openalex.org/W6771217966","https://openalex.org/W6780559895"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4306904969","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2138720691","https://openalex.org/W2376932109"],"abstract_inverted_index":{"Cognitive":[0],"cooperative":[1],"assistance":[2],"in":[3,14,65,71,89],"robot-assisted":[4],"surgery":[5,199],"holds":[6],"the":[7,25,44,76,81,104,147,163,167,184,194],"potential":[8],"to":[9,23,40,43,67,93,101,116,126,140,162,175,181],"increase":[10,132],"quality":[11],"of":[12,19,30,75,80,123,135,146,166,196],"care":[13],"minimally":[15,77],"invasive":[16,78],"interventions.":[17],"Automation":[18],"surgical":[20,158],"tasks":[21,177],"promises":[22],"reduce":[24],"mental":[26],"exertion":[27],"and":[28,88,205],"fatigue":[29],"surgeons.":[31],"In":[32],"this":[33,157],"work,":[34],"multi-agent":[35,144],"reinforcement":[36,186,190],"learning":[37,148,165,187,191],"is":[38],"demonstrated":[39],"be":[41,173],"robust":[42],"distribution":[45],"shift":[46,193],"introduced":[47],"by":[48],"pairing":[49],"a":[50,54,72,153],"learned":[51],"policy":[52],"with":[53,91,107],"human":[55,102],"team":[56],"member.":[57],"Multi-agent":[58,189],"policies":[59],"are":[60,85,179],"trained":[61],"directly":[62],"from":[63],"images":[64],"simulation":[66],"control":[68,134],"multiple":[69],"instruments":[70],"sub":[73,159],"task":[74],"removal":[79],"gallbladder.":[82],"These":[83],"agents":[84,109],"evaluated":[86],"individually":[87],"cooperation":[90,202],"humans":[92],"demonstrate":[94],"their":[95],"suitability":[96],"as":[97,119,121],"autonomous":[98],"assistants.":[99],"Compared":[100],"teams,":[103],"hybrid":[105],"teams":[106],"artificial":[108,137],"perform":[110],"better":[111],"considering":[112],"completion":[113],"time":[114],"(44.4%":[115],"71.2%":[117],"shorter)":[118],"well":[120],"number":[122],"collisions":[124],"(44.7%":[125],"98.0%":[127],"fewer).":[128],"Path":[129],"lengths,":[130],"however,":[131],"under":[133],"an":[136],"agent":[138],"(11.4%":[139],"33.5%":[141],"longer).":[142],"A":[143],"formulation":[145,155],"problem":[149],"was":[150],"favored":[151],"over":[152],"single-agent":[154],"on":[156],"task,":[160],"due":[161],"sequential":[164],"two":[168],"instruments.":[169],"This":[170],"approach":[171],"may":[172,192],"extended":[174],"other":[176],"that":[178],"difficult":[180],"formulate":[182],"within":[183],"standard":[185],"framework.":[188],"paradigm":[195],"cognitive":[197],"robotic":[198],"towards":[200],"seamless":[201],"between":[203],"surgeons":[204],"assistive":[206],"technologies.":[207]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2021-10-25T00:00:00"}