SOFA_ZOO

This repository is part of the project "LapGym - An Open Source Framework for Reinforcement Learning in Robot-Assisted Laparoscopic Surgery". It provides the code for the reinforcement learning experiments as described in the LapGym paper for the environments of sofa_env.

Dependencies

• ffmpeg for recording sample videos (sudo apt install ffmpeg)

Installation

• If not done already: clone the sofa_env repository and follow the instructionsof that repository to setup a conda environment and compile SOFA with SofaPython3 support. Do not forget to install the package itself with pip install -e . afterwards. Make sure that you did all the steps inside the sofa conda environment. If you have already installed SOFA with SofaPython3 in a conda env, it should be enough to pip install the repository.

• Clone this repository (sofa_zoo).

• Make sure that the sofa conda environment is active.

• Install this repository with pip install -e ..

Citing

If you use the project in your work, please consider citing it with:

@article{JMLR:v24:23-0207,
  author  = {Paul Maria Scheikl and Balázs Gyenes and Rayan Younis and Christoph Haas and Gerhard Neumann and Martin Wagner and Franziska Mathis-Ullrich},
  title   = {LapGym - An Open Source Framework for Reinforcement Learning in Robot-Assisted Laparoscopic Surgery},
  journal = {Journal of Machine Learning Research},
  year    = {2023},
  volume  = {24},
  number  = {368},
  pages   = {1--42},
  url     = {http://jmlr.org/papers/v24/23-0207.html}
}

Acknowledgements

This work is supported by the Helmholtz Association under the joint research school "HIDSS4Health – Helmholtz Information and Data Science School for Health".