Autonomous countertraction for secure field of view in laparoscopic surgery using deep reinforcement learning. - Yuriko Iyama; Yudai Takahashi; Jiahe Chen; Takumi Noda; Kazuaki Hara; Etsuko Kobayashi; Ichiro Sakuma; Naoki Tomii (Int. J. Comput. Assist. Radiol. Surg., 2025)