# Flexible needle puncture path planning for liver tumors based on deep reinforcement learning

> Research article (Physics in Medicine and Biology, 2022) · cited 24× · AI/ML

**Wikidata**: [openalex:W4297254054](https://www.wikidata.org/wiki/openalex:W4297254054)  
**Source**: https://4ort.xyz/entity/flexible-needle-puncture-path-planning-for-liver-tumors-based-on-deep-reinforcement-learning