Motion generation of robotic surgical tasks: Learning from expert demonstrations

2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10

Volumn , Issue , 2010, Pages 967-970

  Reiley, Carol E ^a   Plaku, Erion ^a   Hager, Gregory D ^a  

^a Johns Hopkins University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COGNITIVE WORKLOADS; DYNAMIC TIME WARPING; GAUSSIAN MIXTURE MODEL; GAUSSIAN MIXTURES; GENERATIVE MODEL; INTUITIVE SURGICAL; MOTION DATA; MOTION GENERATION; MOTION STRUCTURE; PROGRAMMING BY DEMONSTRATION; SKILL ASSESSMENT; SMOOTH REFERENCE; SMOOTH TRAJECTORIES; SUBTASKS; SURGICAL SYSTEMS; SURGICAL TASKS;

DEMONSTRATIONS; FEATURE EXTRACTION; RATING; ROBOTICS; ROBOTS; TRAJECTORIES;

SURGERY;

ARTICLE; COMPUTER ASSISTED SURGERY; COMPUTER INTERFACE; EXPERT SYSTEM; HUMAN; MAN MACHINE INTERACTION; METHODOLOGY; MOTION; PROFESSIONAL COMPETENCE; ROBOTICS;

EXPERT SYSTEMS; HUMANS; MAN-MACHINE SYSTEMS; MOTION; PROFESSIONAL COMPETENCE; ROBOTICS; SURGERY, COMPUTER-ASSISTED; USER-COMPUTER INTERFACE;

EID: 78650842386     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IEMBS.2010.5627594     Document Type: Conference Paper

References (17)

1. G. S. Guthart and J. K. Salisbury, "The intuitivetm telesurgery system: Overview and application," IEEE International Conference on Robotics and Automation, pp. 618-621, 2000.
2. Intuitive Surgical Annual Report, Intuitive Surgical Inc., 2007.
3. H. Mayer, F. Gomex, D. Wierstra, I. Nagy, A. Knoll, and J. Schmidhuber, "A system for robotic heart surgery that learns to tie knots using recurrent neural networks," ICRA, pp. 543-548, 2006.
4. R. Taylor, B. Mittelstadt, H. Paul, W. Hanson, and P. Kazanzides, "An image-directed robotics system for precise orthopaedic surgery," IEEE Trans. on Robotics and Automation, vol. 10(3), p. 261275, 1994.
5. H. Kang and J. T. Wen, "Robotic knot tying in minimally invasive surgeries," IEEE International Conference on Intelligent Robots and Systems, pp. 1421-1426, 2002.
6. S. Calinon, F. Guenter, and A. Billard, "On learning, representing and generalizing a task in a humanoid robot," IEEE Transactions on Systems, Man and Cybernetics, vol. 37, pp. 286-298, 2007. (Pubitemid 46523219)
7. J. van den Berg, S. Miller, D. Duckworth, H. Hu, A. Wan, X.-Y. Fu, K. Goldberg, and P. Abbeel, "Superhuman performance of surgical tasks by robots using iterative learning from human-guided demonstrations," ICRA, 2010.
8. H. Lin, I. Shafran, D. D. Yuh, and G. D. Hager, "Towards automatic skill evaluation: Detection and segmentation of robot-assisted surgical motions," Computer Aided Surgery, vol. 11(5), pp. 220-223, 2006.
9. C. Reiley, H. Lin, B. Varadarajan, S. Khudanpur, D. D. Yuh, and G. D. Hager, "Automatic recognition of surgical motions using statistical modeling for capturing variability," MMVR, 2008.
10. T. Kowalewski, J. Rosen, L. Chang, M. Sinanan, and B. Hannaford, "Optimization of a vector quantization codebook for objective evaluation of surgical skill," Studies in health technology and Informatics, vol. 98, pp. 174-179, 2004.
11. M. Nicolescu and M. Mataric, "Natural methods for robot task learning: Instructive demonstrations, generalization and practice," Intl Joint Conf. on Autonomous Agents and Multiagent Systems (AAMAS), pp. 241-248, 2003.
12. M. Pardowitz, R. Zoellner, S. Knoop, and R. Dillmann, "Incremental learning of tasks from user demonstrations, past experiences and vocal comments," IEEE Trans. on Systems, Man and Cybernetics, Part B, vol. 37(2), pp. 322-332, 2007.
13. H. Sakoe and S. Chiba, "Dynamic programming algorithm optimization for spoken word recognition," IEEE Transactions on Acoustics, Speech and Signal Processing, vol. 26, pp. 43-49, 1978.
14. A. Dempster and N. Rubin, "Maximum likelihood from incomplete data via the em algorithm," Journal of the Royal Statistical Society, vol. 39(1), pp. 1-38, 1977.
15. D. Cohn, Z. Ghahramani, and M. Jordan, "Active learning with statistical models," Artificial Intelligence Research, vol. 4, pp. 129-145, 1996, gMR citation.
16. L. Rabiner, "A tutorial on hidden markov models and selected applications in speech recognition," IEEE, vol. 77(2), pp. 257-286, 1989.
17. C. E. Reiley and G. D. Hager, "Task versus subtask surgical skill evaluation of robotic minimally invasive surgery," Medical Image Computing and Computer Assisted Intervention, vol. 5761, pp. 435-442, 2009.