Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Robotic Laser Orientation Planning with a 3D Data-driven Method   This paper focuses on a research problem of robotic controlled laser
orientation to minimize errant overcutting of healthy tissue during the course
of pathological tissue resection. Laser scalpels have been widely used in
surgery to remove pathological tissue targets such as tumors or other lesions.
However, different laser orientations can create various tissue ablation
cavities, and incorrect incident angles can cause over-irradiation of healthy
tissue that should not be ablated. This work aims to formulate an optimization
problem to find the optimal laser orientation in order to minimize the
possibility of excessive laser-induced tissue ablation. We first develop a 3D
data-driven geometric model to predict the shape of the tissue cavity after a
single laser ablation. Modelling the target and non-target tissue region by an
obstacle boundary, the determination of an optimal orientation is converted to
a collision-minimization problem. The goal of this optimization formulation is
maintaining the ablated contour distance from the obstacle boundary, which is
solved by Projected gradient descent. Simulation experiments were conducted and
the results validated the proposed method with conditions of various obstacle
shapes and different initial incident angles.

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The categories of this paper are: astro-ph
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The categories of this paper are: dg-ga
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The categories of this paper are: hep-ex
12
The categories of this paper are: nucl-th
30
The categories of this paper are: q-alg
2
The categories of this paper are: math
18
The categories of this paper are: econ
17
The categories of this paper are: q-fin
16
The categories of this paper are: stat
20
The categories of this paper are: acc-phys
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The categories of this paper are: quant-ph
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The categories of this paper are: adap-org
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The categories of this paper are: bayes-an
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The categories of this paper are: physics
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The categories of this paper are: chao-dyn
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The categories of this paper are: q-bio