A medical robotic assistant for minimally invasive surgery

Muñoz, V.F.; Vara-Thorbeck, C; DeGabriel, J.G.; Lozano, Jesús Fernández; Sanchez-Badajoz, E.; García-Cerezo, Alfonso; Toscano, Robert Lopez; Jimenez-Garrido, A.

doi:10.1109/robot.2000.846468

Cited by 43 publications

(26 citation statements)

References 5 publications

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“…These systems range from pure teleoperated or master/slave systems that directly replicate the motions performed by the surgeon [11], [30], to supervisory or shared-control systems where the surgeon holds and remains in control of the medical instrument and the robot provides assistance [36], to purely autonomous systems where medical motions are planned off-line when detailed quantitative pre-operative plans of the surgical procedure can be laid out and executed autonomously without intraoperative modification [38]. In addition, intelligent robotic assistants have also been proposed for rendering assistance in minimally invasive surgery [17], [20].…”

Section: Related Workmentioning

confidence: 99%

Autonomous multilateral debridement with the Raven surgical robot

Kehoe

Kahn

Mahler

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

110

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Abstract-Robotic surgical assistants (RSAs) enable surgeons to perform delicate and precise minimally invasive surgery. Currently these devices are primarily controlled by surgeons in a local tele-operation (master-slave) mode. Introducing autonomy of surgical sub-tasks has the potential to assist surgeons, reduce fatigue, and facilitate supervised autonomy for remote tele-surgery. This paper considers the sub-task of surgical debridement: removing dead or damaged tissue fragments to allow the remaining healthy tissue to heal. We present an implemented automated surgical debridement system that uses the Raven, an open-architecture surgical robot with two cabledriven 7 DOF arms. Our system combines stereo vision for 3D perception, trajopt, an optimization-based motion planner, and model predictive control (MPC). Experiments with autonomous sensing, grasping, and removal of over 100 fragments suggest that it is possible for an autonomous surgical robot to achieve robustness comparable to human levels for a surgically-relevant subtask, although for our current implementation, execution time is 2-3× slower than human levels, primarily due to replanning times for MPC. This paper provides three contributions: (i) introducing debridement as a surgically-relevant sub-task for robotics, (ii) designing and implementing an autonomous multilateral surgical debridement system that uses both arms of the Raven surgical robot, and (iii) providing experimental data that highlights the importance of accurate state estimation for future research.

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Section: Related Workmentioning

confidence: 99%

Autonomous multilateral debridement with the Raven surgical robot

Kehoe

Kahn

Mahler

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

110

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“…Table 1 and Fig. 3 demonstrate classification results of the following 27 kinds of endoscope robots which are commercialized or published in article for referee reading as of September 2009: a) A460 CRS Plus (Hurteau et al, 1994), b)AESOP TM (Sackier & Wang, 1994), c)LARS , d)EndoAssist TM (Endosista) (Finlay, 2001), e)Staubli Rx60 (Munoz et al, 2000), f)ERM (Munoz et al, 2005), g)LapMan (Polet & Donnez, 2004), h)RES (Mizhuno, 1995), i)Naviot TM (Kobayashi et al, 1999, Tanoue et al, 2006, j)PASEO (Nishikawa et al, 2003), k)HISAR , l)ViKY(LER) (EndoControl, 2009, Long et al, 2007, m)5-DOFs Laparoscopic Assistant Robot(KaLAR) (Lee et al, 2003), n)FIPS (Buess et al,2000), o)Imag Trac (Kimura et al, 2000), p)Wide-Angle View Endoscope (Kobayashi et al, 2004), q)Dual-View Endoscopic System (Yamauchi et al, 2002), r)Automatic Tracking And Zooming System (Nakaguchi et al, 2005), s)COVER , t)P-arm ), u)Free hand (Prosurgics, 2009), v) Robolens (Sarkaret al, 2009), w)Swarup Robotic Arm (SWARM) (Deshpande, 2004), x)MST Laparoscope Manipulator (Szold et al, 2008, NGT, 2009), y)ROBOX (Rininsland, 1999, KIT, 2009, FZK, 2009), z) FELIX (Rininsland, 1999, FZK, 2009, aa) Paramis (Graur et al, 2009). …”

Section: Introductionmentioning

confidence: 99%

Classification, Design and Evaluation of Endoscope Robots

Taniguchi¹,

Nishikawa²,

Sekimoto³

et al. 2010

Robot Surgery

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“…Therefore, the implementation of a voice control interface is an effective approach to overcome these drawbacks since verbal instructions are natural for a human. There have been several laparoscope positioning systems that introduced voice control interfaces [1,2,3,4]. However, these systems could not achieve the required accceptance since long reaction time, limited reliability, and a user dependent interface made its use inappropriate.…”

Section: Introductionmentioning

confidence: 99%

Speech control in surgery: A field analysis and strategies

Schuller

Can

Feußner

et al. 2009

2009 IEEE International Conference on Multimedia and Expo

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This work introduces a robot driven camera controlled by speech. The SIMIS database of 20 recordings of real life surgical operations serves as basis for analyses and noise modelling. To overcome low recognition performance due to high noise levels during operations, the vocabulary was chosen to be highly limited and multiple noise reduction methods have been investigated. We show that the use of feature enhancement techniques, such as Histogram Equalization or a Switching Linear Dynamic Model capturing the dynamics of speech show a remarkable improvement in recognition accuracy. Considering a severe condition of usage of the recognition system with all appearing noise types, the mean accuracy can be raised from 89.67 % to 91.16 % with SLDM, and to 95.50 % with HEQ enhancement.

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A medical robotic assistant for minimally invasive surgery

Cited by 43 publications

References 5 publications

Autonomous multilateral debridement with the Raven surgical robot

Autonomous multilateral debridement with the Raven surgical robot

Classification, Design and Evaluation of Endoscope Robots

Speech control in surgery: A field analysis and strategies

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