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Gonzalez et al. 2020, "From the DESK (Dexterous Surgical Skill) to the Battlefield - A Robotics Exploratory Study"

"This paper presents the Dexterous Surgical Skill (DESK) database for knowledge transfer between robots. The peg transfer task was selected as it is one of the six main tasks of laparoscopic training. In addition, we provide a machine learning framework to evaluate novel transfer learning methodologies on this database. Using simulation data to train the learning algorithms enhances the performance on the real robot where limited or no real data is available. The transfer model showed an accuracy of 81% for the YuMi robot when the ratio of real-to-simulated data was 22%-78%. For the Taurus II and the da Vinci the model showed an accuracy of 97.5% and 93% respectively, training only with simulation data.  Results indicate that simulation can be used to augment training data to enhance the performance of learned models in real scenarios. This shows potential for future use of surgical data from the operating room in deployable surgical robots in remote areas."