Learning by observation for surgical subtasks: Multilateral cutting of 3D viscoelastic and 2D Orthotropic Tissue Phantoms

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2015-June, Issue June, 2015, Pages 1202-1209

  Murali, Adithyavairavan ^a   Sen, Siddarth ^a   Kehoe, Ben ^b   Garg, Animesh ^c   McFarland, Seth ^b   Patil, Sachin ^a   Boyd, W Douglas ^d   Lim, Susan ^e   Abbeel, Pieter ^a   Goldberg, Ken ^c  

^a UNIVERSITY OF CALIFORNIA   (United States)

^b Departments of Kinesiology Mechanical Engineering and Orthopaedics and Rehabilitation   (United States)

^c DEPARTMENT OF INDUSTRIAL ENGINEERING AND OPERATIONS RESEARCH   (United States)

^d UNIVERSITY OF CALIFORNIA   (United States)

^e Centre for Robotic Surgery   (Singapore)

Author keywords

[No Author keywords available]

Indexed keywords

AGRICULTURAL ROBOTS; LAPAROSCOPY; PHANTOMS; ROBOTICS; TISSUE; TRANSPLANTATION (SURGICAL); VISCOELASTICITY;

HUMAN TISSUES; LAPAROSCOPIC SURGERY; LEARNING BY OBSERVATION; MOTION SEQUENCES; PATTERN CUTTING; PHYSICAL EXPERIMENTS; SMALL TARGETS; TISSUE PHANTOM;

ROBOTIC SURGERY;

EID: 84938235806     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2015.7139344     Document Type: Conference Paper

References (40)

1. R. Alterovitz and K. Goldberg, Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-guided Procedures. Springer, 2008.
2. B. D. Argall, S. Chernova, M. Veloso, and B. Browning, "A Survey of Robot Learning from Demonstration," Robotics and Autonomous Systems, vol. 57, no. 5, pp. 469-483, 2009.
3. C. E. Attinger, E. Bulan, and P. A. Blume, "Surgical Debridement: The Key to Successful Wound Healing and Reconstruction," Clinics in podiatric medicine and surgery, vol. 17, no. 4, p. 599, 2000.
4. G. Ballantyne and F. Moll, "The da Vinci Telerobotic Surgical System: The Virtual Operative Field and Telepresence Surgery," Surgical Clinics of North America, vol. 83, no. 6, pp. 1293-1304, 2003.
5. R. A. Beasley, "Medical Robots: Current Systems and Research Directions," Journal of Robotics, vol. 2012, 2012.
6. S. Billings, N. Deshmukh, H. Kang, R. Taylor, and E. Boctor, "System for Robot-Assisted Real-Time Laparoscopic Ultrasound Elastography," in SPIE Medical Imaging, 2012.
7. G. Bradski and A. Kaehler, Learning OpenCV: Computer Vision with the OpenCV Library. O'Reilly, 2008.
8. S. Calinon, "Robot Programming by Demonstration," in Springer handbook of robotics, 2008, pp. 1371-1394.
9. N. Chentanez, R. Alterovitz, D. Ritchie, L. Cho, K. Hauser, K. Goldberg, J. R. Shewchuk, and J. F. O'Brien, "Interactive Simulation of Surgical Needle Insertion and Steering," ACM Transactions on Graphics, vol. 28, no. 3, 2009.
10. S. A. Darzi and Y. Munz, "The Impact of Minimally Invasive Surgical Techniques," in Annu Rev Med., vol. 55, 2004, pp. 223-237.
11. K. Dixon, "Inferring User Intent for Learning by Observation," Ph. D. dissertation, Carnegie Mellon University, 2004.
12. G. Dulan, R. V. Rege, D. C. Hogg, K. M. Gilberg-Fisher, N. A. Arain, S. T. Tesfay, and D. J. Scott, "Developing a Comprehensive, Proficiency-based Training Program for Robotic Surgery," Surgery, vol. 152, no. 3, pp. 477-488, 2012.
13. M. Gienger, M. Muhlig, and J. J. Steil, "Imitating Object Movement Skills with Robots: A Task-Level Approach Exploiting Generalization and Invariance," in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2010, pp. 1262-1269.
14. M. Granick, J. Boykin, R. Gamelli, G. Schultz, and M. Tenenhaus, "Toward a Common Language: Surgical Wound Bed Preparation and Debridement," Wound repair and regeneration, vol. 14, no. s1, pp. 1-10, 2006.
15. B. Hannaford, J. Rosen, D. C. Friedman, H. King, P. Roan, L. Cheng, D. Glozman, J. Ma, S. Kosari, and L. White, "Raven-II: An Open Platform for Surgical Robotics Research," IEEE Transactions on Biomedical Engineering, vol. 60, pp. 954-959, Apr. 2013.
16. Intuitive Surgical, "da Vinci Research Kit," 2014. [Online]. Available: http://research. intusurg. com/dvRK
17. P. Kazanzides, Z. Chen, A. Deguet, G. Fischer, R. Taylor, and S. DiMaio, "An Open-Source Research Kit for the da Vinci Surgical System," in Proc. IEEE Int. Conf. Robotics and Automation (ICRA), 2014.
18. B. Kehoe, G. Kahn, J. Mahler, J. Kim, A. Lee, A. Lee, K. Nakagawa, S. Patil, W. Boyd, P. Abbeel, and K. Goldberg, "Autonomous Multilateral Debridement with the Raven Surgical Robot," in Proc. IEEE Int. Conf. Robotics and Automation (ICRA), 2014.
19. G. Konidaris, S. Kuindersma, R. Grupen, and A. Barto, "Robot Learning from Demonstration by Constructing Skill Trees," Int. Journal of Robotics Research, vol. 31, no. 3, pp. 360-375, 2011.
20. S. M. Lim, C. K. Kum, and F. L. Lam, "Nerve-sparing Axillary Dissection using the da Vinci Surgical System," World Journal of Surgery, vol. 29, no. 10, pp. 1352-1355, 2005.
21. H. C. Lin, I. Shafran, D. Yuh, and G. D. Hager, "Towards Automatic Skill Evaluation: Detection and Segmentation of Robot-assisted Surgical Motions," Computer Aided Surgery, vol. 11, no. 5, pp. 220-230, 2006.
22. H. Mayer, I. Nagy, D. Burschka, A. Knoll, E. Braun, R. Lange, and R. Bauernschmitt, "Automation of Manual Tasks for Minimally Invasive Surgery," in Int. Conf. on Autonomic and Autonomous Systems, 2008, pp. 260-265.
23. O. Mohareri, P. Black, and S. E. Salcudean, "da Vinci Auxiliary Arm as a Robotic Surgical Assistant for Semi-Autonomous Ultrasound Guidance during Robot-Assisted Laparoscopic Surgery," in Hamlyn Symposium on Medical Robotics (HSMR), 2014.
24. G. Moustris, S. Hiridis, K. Deliparaschos, and K. Konstantinidis, "Evolution of Autonomous and Semi-Autonomous Robotic Surgical Systems: A Review of the Literature," Int. Journal of Medical Robotics and Computer Assisted Surgery, vol. 7, no. 4, pp. 375-392, 2011.
25. S. Niekum, S. Osentoski, G. Konidaris, S. Chitta, B. Marthi, and A. G. Barto, "Learning Grounded Finite-State Representations from Unstructured Demonstrations," Int. Journal of Robotics Research, vol. 34, no. 2, pp. 131-157, 2015.
26. H.-W. Nienhuys and A. F. van der Stappen, "A Surgery Simulation supporting Cuts and Finite Element Deformation," in Medical Image Computing and Computer-Assisted Intervention-MICCAI 2001. Springer, 2001, pp. 145-152.
27. OpenCV, "Template matching. " [Online]. Available: http://docs. opencv. org/doc/tutorials/imgproc/histograms/ template matching/template matching. html
28. T. Osa, N. Sugita, and M. Mamoru, "Online Trajectory Planning in Dynamic Environments for Surgical Task Automation," in Robotics: Science and Systems (RSS), 2014.
29. N. Padoy and G. Hager, "Human-Machine Collaborative Surgery using Learned Models," in Proc. IEEE Int. Conf. Robotics and Automation (ICRA), 2011, pp. 5285-5292.
30. C. E. Reiley and G. D. Hager, "Task versus Subtask Surgical Skill Evaluation of Robotic Minimally Invasive Surgery," in Medical Image Computing and Computer-Assisted Intervention (MICCAI), 2009, pp. 435-442.
31. C. E. Reiley, E. Plaku, and G. D. Hager, "Motion generation of robotic surgical tasks: Learning from expert demonstrations," in Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE. IEEE, 2010, pp. 967-970.
32. E. Ritter and D. Scott, "Design of a Proficiency-based Skills Training Curriculum for the Fundamentals of Laparoscopic Surgery," Surgical Innovation, vol. 14, no. 2, pp. 107-112, 2007.
33. J. Schulman, A. Gupta, S. Venkatesan, M. Tayson-Frederick, and P. Abbeel, "A Case Study of Trajectory Transfer through Non-Rigid Registration for a Simplified Suturing Scenario," in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2013, pp. 4111-4117.
34. K. D. Stahl, W. D. Boyd, T. A. Vassiliades, and H. L. Karamanoukian, "Hybrid Robotic Coronary Artery Surgery and Angioplasty in Multivessel Coronary Artery Disease," The Annals of thoracic surgery, vol. 74, no. 4, pp. 1358-1362, 2002.
35. R. Taylor, A. Menciassi, G. Fichtinger, and P. Dario, "Medical Robotics and Computer-Integrated Surgery," Springer Handbook of Robotics, pp. 1199-1222, 2008.
36. J. Van Den Berg, S. Miller, D. Duckworth, H. Hu, A. Wan, X. Fu, K. Goldberg, and P. Abbeel, "Superhuman Performance of Surgical Tasks by Robots using Iterative Learning from Human-Guided Demonstrations," in Proc. IEEE Int. Conf. Robotics and Automation (ICRA), 2010, pp. 2074-2081.
37. B. Varadarajan, C. Reiley, H. Lin, S. Khudanpur, and G. Hager, "Data-derived Models for Segmentation with Application to Surgical Assessment and Training," in Medical Image Computing and Computer-Assisted Intervention (MICCAI), 2009, pp. 426-434.
38. R. Veldkamp, E. Kuhry, W. Hop, J. Jeekel, G. Kazemier, H. J. Bonjer, E. Haglind, L. Pahlman, M. A. Cuesta, S. Msika, et al., "Laparoscopic surgery versus open surgery for colon cancer: short-term outcomes of a randomised trial," Lancet Oncol, vol. 6, no. 7, pp. 477-484, 2005.
39. A. Wolf and M. Shoham, "Medical Automation and Robotics," in Springer Handbook of Automation, 2009, pp. 1397-1407.
40. H. Zhang, S. Payandeh, and J. Dill, "On Cutting and Dissection of Virtual Deformable Objects," in Proc. IEEE Int. Conf. Robotics and Automation (ICRA), 2004, pp. 3908-3913.