Sheet-Metal Production Scheduling Using AlphaGo Zero

This work investigates the applicability of a reinforcement learning (RL) approach, specifically AlphaGo Zero (AZ), for optimizing sheet-metal (SM) production schedules with respect to tardiness and material waste. SM production scheduling is a complex job shop scheduling problem (JSSP) with dynamic operation times, routing flexibility and supplementary constraints. SM production systems are capable of processing a large number of highly heterogeneous jobs simultaneously. While very large relative to the JSSP literature, the SM-JSSP instances investigated in this work are small relative to the SM production reality. Given the high dimensionality of the SM-JSSP, computation of an optimal schedule is not tractable. Simple heuristic solutions often deliver bad results. We use AZ to selectively search the solution space. To this end, a single player AZ version is pretrained using supervised learning on schedules generated by a heuristic, fine-tuned using RL and evaluated through comparison with a heuristic baseline and Monte Carlo Tree Search. It will be shown that AZ outperforms the other approaches. The work’s scientific contribution is twofold: On the one hand, a novel scheduling problem is formalized such that it can be tackled using RL approaches. On the other hand, it is proved that AZ can be successfully modified to provide a solution for the problem at hand, whereby a new line of research into real-world applications of AZ is opened

Evaluation of Methods for Semantic Segmentation of Endoscopic Images

We examined multiple semantic segmentation methods, which consider the information contained in endoscopic images at different levels of abstraction in order to predict semantic segmentation masks. These segmentations can be used to obtain position information of surgical instruments in endoscopic images, which is the foundation for many computer assisted systems, such as automatic instrument tracking systems. The methods in this paper were examined and compared in regard to their accuracy, effort to create the data set, and inference time. Of all the investigated approaches, the LinkNet34 encoder-decoder network scored best, achieving an Intersection over Union score of 0.838 with an inference time of 30.25 ms on a 640 x 480 pixel input image with a NVIDIA GTX 1070Ti GPU

Registered and Segmented Deformable Object Reconstruction from a Single View Point Cloud

In deformable object manipulation, we often want to interact with specific segments of an object that are only defined in non-deformed models of the object. We thus require a system that can recognize and locate these segments in sensor data of deformed real world objects. This is normally done using deformable object registration, which is problem specific and complex to tune. Recent methods utilize neural occupancy functions to improve deformable object registration by registering to an object reconstruction. Going one step further, we propose a system that in addition to reconstruction learns segmentation of the reconstructed object. As the resulting output already contains the information about the segments, we can skip the registration process. Tested on a variety of deformable objects in simulation and the real world, we demonstrate that our method learns to robustly find these segments. We also introduce a simple sampling algorithm to generate better training data for occupancy learning.Comment: Accepted at WACV 202

Collaborative Control for Surgical Robots

We are designing and evaluating control strategies that enable surgeons to intuitively hand-guide an endoscope attached to a redundant lightweight robot. The strategies focus on safety aspects as well as intuitive and smooth control for moving the endoscope. Two scenarios are addressed. The first being a compliant hand-guidance of the endoscope and the second moving the robot’s elbow on its redundancy circle to move the robot out of the surgeon’s way without changing the view. To prevent collisions with the patient and the environment, the robot needs to move respecting Cartesian constraints

A Mechatronic Interface for using Oblique-Viewing Endoscopes with Light Weight Robots for Laparoscopic Surgery

No mechatronic interface exists between a robotic arm and an oblique-viewing endoscope with rotational actuation and without kinematic singularity. Therefore, we developed an interface between a Franka Emika Panda manipulator and a rigid 30 degree oblique-viewing endoscope by Storz, which can be used during laparoscopic surgery. The design is easily adaptable to other camera heads and robotic arms. As a next step, we will compare the design to a 30 degree endoscope without utilization of the rotational degree of freedom and to a 0 degree endoscope

Movement Primitive Diffusion: Learning Gentle Robotic Manipulation of Deformable Objects

Policy learning in robot-assisted surgery (RAS) lacks data efficient and versatile methods that exhibit the desired motion quality for delicate surgical interventions. To this end, we introduce Movement Primitive Diffusion (MPD), a novel method for imitation learning (IL) in RAS that focuses on gentle manipulation of deformable objects. The approach combines the versatility of diffusion-based imitation learning (DIL) with the high-quality motion generation capabilities of Probabilistic Dynamic Movement Primitives (ProDMPs). This combination enables MPD to achieve gentle manipulation of deformable objects, while maintaining data efficiency critical for RAS applications where demonstration data is scarce. We evaluate MPD across various simulated and real world robotic tasks on both state and image observations. MPD outperforms state-of-the-art DIL methods in success rate, motion quality, and data efficiency. Project page: https://scheiklp.github.io/movement-primitive-diffusion

A learning robot for cognitive camera control in minimally invasive surgery

Background!#!We demonstrate the first self-learning, context-sensitive, autonomous camera-guiding robot applicable to minimally invasive surgery. The majority of surgical robots nowadays are telemanipulators without autonomous capabilities. Autonomous systems have been developed for laparoscopic camera guidance, however following simple rules and not adapting their behavior to specific tasks, procedures, or surgeons.!##!Methods!#!The herein presented methodology allows different robot kinematics to perceive their environment, interpret it according to a knowledge base and perform context-aware actions. For training, twenty operations were conducted with human camera guidance by a single surgeon. Subsequently, we experimentally evaluated the cognitive robotic camera control. A VIKY EP system and a KUKA LWR 4 robot were trained on data from manual camera guidance after completion of the surgeon's learning curve. Second, only data from VIKY EP were used to train the LWR and finally data from training with the LWR were used to re-train the LWR.!##!Results!#!The duration of each operation decreased with the robot's increasing experience from 1704 s ± 244 s to 1406 s ± 112 s, and 1197 s. Camera guidance quality (good/neutral/poor) improved from 38.6/53.4/7.9 to 49.4/46.3/4.1% and 56.2/41.0/2.8%.!##!Conclusions!#!The cognitive camera robot improved its performance with experience, laying the foundation for a new generation of cognitive surgical robots that adapt to a surgeon's needs