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Abstract. Laparoscopic arm and instrument arm control tasks are usually accomplished by an operative doctor. Because of intensive workload and long operative time, this method not only causes the operation not to be flow, but also increases operation risk. In this paper, we propose a method for automatic adjustment of laparoscopic pose based on vision and deep reinforcement learning. Firstly, based on the Deep Q Network framework, the raw laparoscopic image is taken as the only input todoi:10.5194/ms-13-593-2022 fatcat:imi6hom4yzesvixvuld2yrbpqu