# Safe Reinforcement Learning using Formal Verification for Tissue Retraction in Autonomous Robotic-Assisted Surgery

> Research article (2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021) · cited 38× · AI/ML

**Wikidata**: [openalex:W3198013102](https://www.wikidata.org/wiki/openalex:W3198013102)  
**Source**: https://4ort.xyz/entity/safe-reinforcement-learning-using-formal-verification-for-tissue-retraction-in-autonomous-robotic-assisted-surgery