Toward automated tissue retraction in robot-assisted surgery

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2010, Pages 2088-2094

  Patil, Sachin ^a   Alterovitz, Ron ^a  

^a CB 3175 Sitterson Hall   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AUTOMATED TISSUES; AVOIDING OBSTACLE; CONTROL EFFORT; DEFORMATION ENERGY; DISCRETIZATIONS; EQUILIBRIUM CONFIGURATION; HETEROGENEOUS TISSUES; MAXIMUM STRESS; MINIMALLY INVASIVE SURGERY; MODELING ERRORS; OPTIMAL LOCATIONS; OPTIMAL PLAN; OPTIMIZATION CRITERIA; PHYSICALLY-BASED SIMULATION; ROBOT-ASSISTED SURGERY; SAMPLING-BASED; SURGICAL TASKS; TELEOPERATED; THIN LAYERS; TISSUE DAMAGE; TISSUE FLAPS; TISSUE RETRACTION;

DEFORMATION; HISTOLOGY; LOCATION; MEDICAL APPLICATIONS; ROBOTICS; ROBOTS; TISSUE; TRANSPLANTATION (SURGICAL);

OPTIMIZATION;

EID: 77955790926     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2010.5509607     Document Type: Conference Paper

References (30)

1. R. K. Ahuja, T. L. Magnanti, and J. B. Orlin, Network Flows: Theory, Algorithms and Applications. Prentice Hall, 1993.
2. R. Alterovitz, T. Simeon, and K. Goldberg, "The stochastic motion roadmap: A sampling framework for planning with Markov motion uncertainty," in Proc. Robotics: Science and Systems (RSS), 2007.
3. O. B. Bayazit, J.-M. Lien, and N. M. Amato, "Probabilistic roadmap motion planning for deformable objects," in Proc. IEEE Int. Conf. Robotics and Automation (ICRA), 2002, pp. 2126-2133.
4. A. Bicchi and V. Kumar, "Robotic grasping and contact: A review," in Proc. IEEE Int. Conf. Robotics and Automation (ICRA), 2000, pp. 348-353.
5. R. Bohlin and L. E. Kavraki, "Path planning using lazy prm," in Proc. IEEE Int. Conf. Robotics and Automation (ICRA), 2000, pp. 521-528.
6. N. Chentanez, et al., "Interactive simulation of surgical needle insertion and steering," ACM Transactions on Graphics (Proc. SIGGRAPH), vol. 28, no. 3, pp. 88:1-88:10, Aug. 2009.
7. M. Craighead and D. Ginsburg, "ARB occlusion query," 2001. [Online]. Available: http://oss.sgi.com/projects/ogl-sample/registry/ARB/ occlusion-query.txt
8. da Vinci® Surgical System, "http://www.intuitivesurgical.com/, " 2005.
9. S. A. Darzi and Y. Munz, "The impact of minimally invasive surgical techniques," in Annu Rev Med., vol. 55, 2004, pp. 223-237.
10. M. DeLoura, Game Programming Gems 2. Charles River Media, 2002.
11. B. Frank, M. Becker, C. Stachniss, W. Burgard, and M. Teschner, "Efficient path planning for mobile robots in environments with deformable objects," in Proc. IEEE Int. Conf. Robotics and Automation (ICRA), 2008, pp. 3737-3742.
12. R. Gayle, P. Segars, M. C. Lin, and D. Manocha, "Path planning for deformable robots in complex environments," in Proc. Robotics: Science and Systems (RSS), 2005, pp. 225-232.
13. K. G. Gopalakrishnan and K. Goldberg, "D-space and deform closure grasps of deformable parts," in International Journal of Robotics Research, vol. 24, no. 11, 2005, pp. 899-910.
14. S. Gottschalk, M. C. Lin, and D. Manocha, "OBB-tree: A hierarchical structure for rapid interference detection," 1996. [Online]. Available: http://www.cs.unc.edu/~geom/SSV
15. J. W. Hill, P. S. Green, J. F. Jensen, Y. Gorfu, and A. S. Shah, "Telepresence surgery demonstration system," in Proc. IEEE Int. Conf. Robotics and Automation (ICRA), 1994, pp. 2302-2307.
16. S. Hirai, T. Tsuboi, and T. Wada, "Robust grasping and manipulation of deformable objects," in Proc. IEEE International Symposium Assembly and Task Planning, 2001.
17. A. M. Howard and G. A. Bekey, "Intelligent learning for deformable object manipulation," in Autonomous Robots, vol. 9, 2000, pp. 51-58.
18. R. Jansen, K. Hauser, N. Chentanez, F. can der Stappen, and K. Goldberg, "Surgical retraction of non-uniform deformable layers of tissue: 2D robot grasping and path planning," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2009, pp. 4092-4097.
19. F. Lamiraux and L. E. Kavraki, "Planning paths for elastic objects under manipulation constraints," in International Journal of Robotics Research, vol. 20, no. 3, 2001, pp. 188-208.
20. S. M. LaValle, Planning Algorithms. Cambridge, U.K.: Cambridge University Press, 2006, Available at http://planning.cs.uiuc.edu.
21. M. Moll and L. E. Kavraki, "Path planning for deformable linear objects," in IEEE Transactions on Robotics, vol. 22, no. 4, 2006, pp. 625-636.
22. A. Nealen, M. Müller, R. Keiser, E. Boxerman, and M. Carlson, "Physically based deformable models in computer graphics," in Computer Graphics Forum, vol. 25, no. 4, 2006, pp. 809-836.
23. H.-W. Nienhuys, "Cutting in deformable models," Ph.D. dissertation, Utrecht University, 2003.
24. G. Picinbono, H. Delingette, and N. Ayache, "Nonlinear and anisotropic elastic soft tissue models for medical simulation," in Proc. IEEE Int. Conf. Robotics and Automation (ICRA), 2001, pp. 1370-1375.
25. S. Rodriguez, J.-M. Lien, and N. M. Amato, "Planning motion in completely deformable environments," in Proc. IEEE Int. Conf. Robotics and Automation (ICRA), 2006, pp. 2466-2471.
26. M. Saha and P. Isto, "Manipulation planning for deformable linear objects," in IEEE Transactions on Robotics, vol. 23, no. 6, 2007, pp. 1141-1150.
27. J. R. Shewchuk, "An introduction to the conjugate gradient method without the agonizing pain," Carnegie Mellon University, Tech. Rep., 1994. [Online]. Available: http://portal.acm.org/citation.cfm?id=865018
28. H. Si, "Tetgen," 2007. [Online]. Available: http://tetgen.berlios.de/
29. R. H. Taylor, et al., "An image-guided robotics system for precise orthopaedic surgery," in IEEE Transactions on Robotics and Automation, vol. 10, no. 3, 1994, pp. 261-275.
30. O. C. Zienkiewicz, R. L. Taylor, and J. Z. Zhu, The Finite Element Method: Its Basis and Fundamentals. New York: Butterworth-Heinemann, 2005.