Semi-autonomous simulated brain tumor ablation with RAVENII Surgical Robot using behavior tree

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2015-June, Issue June, 2015, Pages 3868-3875

  Hu, Danying ^a   Gong, Yuanzheng ^a   Hannaford, Blake ^a   Seibel, Eric J ^a  

^a University of Washington   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ABLATION; AGRICULTURAL ROBOTS; BRAIN; FORESTRY; MEDICAL ROBOTICS; ROBOTICS; ROBOTS; SURGICAL EQUIPMENT; TRANSPLANTATION (SURGICAL); TUMORS; VISUAL COMMUNICATION; VISUAL SERVOING;

AUTONOMOUS ROBOTICS; FEASIBILITY STUDIES; LEVEL OF AUTONOMIES; MEDICAL ROBOTS; REPETITIVE TASK; ROBOT PERFORMANCE; SURGICAL TASKS; VISUAL FEEDBACK;

ROBOTIC SURGERY;

BIOMETRICS; DISEASES; ROBOTS;

EID: 84938253517     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2015.7139738     Document Type: Conference Paper

References (29)

1. R. H. Taylor and D. Stoianovici, "Medical robotics in computer-integrated surgery," IEEE Trans. on Robotics and Automation, vol. 19, no. 5, pp. 765-781, 2003.
2. M. J. Mack, "Minimally invasive and robotic surgery," Jama, vol. 285, no. 5, pp. 568-572, 2001.
3. M. Veiseh, P. Gabikian, S.-B. Bahrami, O. Veiseh, M. Zhang, R. C. Hackman, A. C. Ravanpay, et al., "Tumor paint: A chlorotoxin: Cy5. 5 bioconjugate for intraoperative visualization of cancer foci," Cancer research, vol. 67, no. 14, pp. 6882-6888, 2007.
4. B. Hannaford, J. Rosen, D. W. Friedman, H. King, P. Roan, L. Cheng, D. Glozman, J. Ma, S. N. Kosari, and L. White, "Raven-II: an open platform for surgical robotics research," IEEE Trans. on Biomedical Engineering, vol. 60, no. 4, pp. 954-959, 2013.
5. E. J. Seibel, R. S. Johnston, and C. D. Melville, "A fullcolor scanning fiber endoscope," in Proc. Optical Fibers and Sensors for Medical Diagnostics and Treatment Applications VI, pp. 6083-9-16, 2006.
6. B. Kehoe, G. Kahn, J. Mahler, J. Kim, A. Lee, A. Lee, K. Nakagawa, S. Patil, W. D. Boyd, P. Abbeel, et al., "Autonomous multilateral debridement with the raven surgical robot," in Robotics and Automation (ICRA), 2014 IEEE International Conference on, 2014.
7. P. Dario, B. Hannaford, and A. Menciassi, "Smart surgical tools and augmenting devices," IEEE Trans. on Robotics and Automation, vol. 19, no. 5, pp. 782-792, 2003.
8. G. Moustris, S. Hiridis, K. Deliparaschos, and K. Konstantinidis, "Evolution of autonomous and semi-autonomous robotic surgical systems: A review of the literature," The Int. Journal of Medical Robotics and Computer Assisted Surgery, vol. 7, no. 4, pp. 375-392, 2011.
9. W. L. Bargar, A. Bauer, and M. Börner, "Primary and revision total hip replacement using the robodoc system," Clinical orthopaedics and related research, vol. 354, pp. 82-91, 1998.
10. Q. H. Li, L. Zamorano, A. Pandya, R. Perez, J. Gong, and F. Diaz, "The application accuracy of the neuromate robot-a quantitative comparison with frameless and framebased surgical localization systems," Computer Aided Surgery, vol. 7, no. 2, pp. 90-98, 2002.
11. T. Varma and P. Eldridge, "Use of the neuromate stereotactic robot in a frameless mode for functional neurosurgery," The Int. Journal of Medical Robotics and Computer Assisted Surgery, vol. 2, no. 2, pp. 107-113, 2006.
12. J. R. Adler Jr, S. Chang, M. Murphy, J. Doty, P. Geis, and S. Hancock, "The cyberknife: A frameless robotic system for radiosurgery," Stereotactic and functional neurosurgery, vol. 69, no. 1-4, pp. 124-128, 1997.
13. A. Wu, G. Lindner, A. Maitz, A. Kalend, L. Lunsford, J. Flickinger, and W. Bloomer, "Physics of gamma knife approach on convergent beams in stereotactic radiosurgery," Int. Journal of Radiation Oncology Biology Physics, vol. 18, no. 4, pp. 941-949, 1990.
14. H. Kang and J. T. Wen, "Autonomous suturing using minimally invasive surgical robots," in Proc. IEEE International Conf. on Control Applications, pp. 742-747, 2000.
15. H. Mayer, F. Gomez, D. Wierstra, I. Nagy, A. Knoll, and J. Schmidhuber, "A system for robotic heart surgery that learns to tie knots using recurrent neural networks," Advanced Robotics, vol. 22, no. 13-14, pp. 1521-1537, 2008.
16. M. Bell and D. Balkcom, "Knot tying with single piece fixtures," in Robotics and Automation (ICRA), 2008 IEEE International Conference on, pp. 379-384, 2008.
17. 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," in Robotics and Automation (ICRA), 2010 IEEE International Conference on, pp. 2074-2081, 2010.
18. C. Coulson, R. Taylor, A. Reid, M. Griffiths, D. Proops, and P. Brett, "An autonomous surgical robot for drilling a cochleostomy: preliminary porcine trial," Clinical Otolaryngology, vol. 33, no. 4, pp. 343-347, 2008.
19. A. Hussong, T. S. Rau, T. Ortmaier, B. Heimann, T. Lenarz, and O. Majdani, "An automated insertion tool for cochlear implants: another step towards atraumatic cochlear implant surgery," Int. Journal of computer assisted radiology and surgery, vol. 5, no. 2, pp. 163-171, 2010.
20. D. Isla, "Building a better battle: The halo 3 ai objectives system. " http://web. cs. wpi. edu/rich/ courses/imgd4000-d09/lectures/halo3. pdf.
21. C. U. Lim, R. Baumgarten, and S. Colton, "Evolving behaviour trees for the commercial game defcon," in Applications of Evolutionary Computation, pp. 100-110, Springer, 2010.
22. A. J. Champendard, "Understanding behavior trees. " http: //aigamedev. com/open/article/bt-overview/.
23. A. Marzinotto, M. Colledanchise, C. Smith, and P. Ogren, "Towards a unified behavior trees framework for robot control," in Robotics and Automation (ICRA), 2014 IEEE International Conference on, pp. 5420-5427, May 2014.
24. M. Colledanchise, A. Marzinotto, and P. Ogren, "Performance analysis of stochastic behavior trees," in Robotics and Automation (ICRA), 2014 IEEE International Conference on, pp. 3265-3272, IEEE, 2014.
25. J. A. Bagnell, F. Cavalcanti, L. Cui, T. Galluzzo, M. Hebert, M. Kazemi, M. Klingensmith, J. Libby, T. Y. Liu, N. Pollard, et al., "An integrated system for autonomous robotics manipulation," in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2955-2962, 2012.
26. C. Yang, V. W. Hou, E. J. Girard, L. Y. Nelson, and E. J. Seibel, "Target-to-background enhancement in multispectral endoscopy with background autofluorescence mitigation for quantitative molecular imaging," Journal of biomedical optics, vol. 19, no. 7, pp. 076014-1-14, 2014.
27. Y. Gong, D. Hu, B. Hannaford, and E. J. Seibel, "Accurate 3d virtual reconstruction of surgical field using calibrated trajectories of an image-guided medical robot," Journal of Medical Imaging, vol. 1, p. 035002, 2014.
28. S. C. Park and B. K. Choi, "Tool-path planning for directionparallel area milling," Computer-Aided Design, vol. 32, no. 1, pp. 17-25, 2000.
29. A. J. Davison, I. D. Reid, N. D. Molton, and O. Stasse, "Monoslam: Real-time single camera slam," IEEE Trans on Pattern Analysis and Machine Intelligence, vol. 29, no. 6, pp. 1052-1067, 2007.