Autonomous 3-d positioning of surgical instruments in robotized laparoscopic surgery using visual servoing

Krupa, Alexandre; Gangloff, Jacques; Doignon, Christophe; Mathelin, M.F. de; Morel, Guillaume; Leroy, Joël; Soler, Luc; Marescaux, Jacques

doi:10.1109/tra.2003.817086

Cited by 196 publications

(102 citation statements)

References 11 publications

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“…Sin embargo, esta tarea requiere de procedimientos más automáticos, como los basados en el análisis de los movimientos del instrumental. Para el desarrollo de este tipo de sistemas, bien sea para su aplicación en cirugía guiada por imagen 21 , para cirugía robótica 22 o bien para evaluación de destrezas, se han utilizado diversas tecnologías de seguimiento como sistemas electromagnéticos 13 , mecánicos 23 , ópticos 24 o basados en vídeo 12,14 .…”

Section: Discussionunclassified

Utilidad de un sistema de seguimiento óptico de instrumental en cirugía laparoscópica para evaluación de destrezas motoras

Sánchez‐Margallo

Pagador

et al. 2014

Cirugía Española

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RESUMENIntroducción: En este trabajo se estudia la utilidad de un sistema de evaluación de destrezas quirúrgicas basado en el análisis de los movimientos del instrumental laparoscópico. Método: El sistema consta de un simulador físico laparoscópico y un sistema de seguimiento y evaluación de habilidades técnicas quirúrgicas. En el estudio han participado 6 cirujanos con experiencia intermedia (entre 1 y 50 intervenciones laparoscópicas) y 5 cirujanos expertos (más de 50 intervenciones laparoscópicas), todos ellos con la mano derecha como dominante. Cada sujeto realizó 3 repeticiones de una tarea de corte con la mano derecha en tejido sintético, una disección de la serosa gástrica y una sutura en la disección realizada. Para cada ejercicio se analizaron los parámetros de tiempo, distancia recorrida, velocidad, aceleración y suavidad de movimientos para los instrumentos de ambas manos.Resultados: En la tarea de corte, los cirujanos expertos muestran menor aceleración (p = 0,014) y mayor suavidad en los movimientos (p = 0,023) en el uso de la tijera. Respecto a la actividad de disección, los cirujanos expertos requieren menos tiempo (p = 0,006) y recorren menos distancia con ambos instrumentos (p = 0,006 para disector y p = 0,01 para tijera). En la tarea de sutura, los cirujanos expertos presentan menor tiempo de ejecución que los cirujanos de nivel intermedio (p = 0,037) y recorren menos distancia con el disector (p = 0,041). Conclusiones: El sistema de evaluación se mostró útil en las tareas de corte, disección y sutura, y constituye un progreso en el desarrollo de sistemas avanzados de entrenamiento y evaluación de destrezas quirúrgicas laparoscópicas. Usefulness of an optical tracking system in laparoscopic surgery for motor skills assessmentABSTRACT Introduction: The objective of this study is to assess the usefulness of an evaluation system of surgical skills based on motion analysis of laparoscopic instruments. Method: This system consists of a physical laparoscopic simulator and a tracking and assessment system of technical skills in laparoscopy. Six surgeons with intermediate experience (between 1 and 50 laparoscopic surgeries) and 5 experienced surgeons (more than 50 laparoscopic surgeries) took part in this study. All participants were right-handed. The subjects performed 3 repetitions of a cutting task on synthetic tissue with the right hand, dissection of a gastric serous layer, and a suturing task in the dissection previously done. Objective metrics such as time, path length, speed of movements, acceleration and motion smoothness were analyzed for the instruments of each hand. Results: In the cutting task, experienced surgeons show less acceleration (P=.014) and a smoother motion (P=.023) using the scissors. Regarding the dissection activity, experienced surgeons need less time (P=.006) and less length with both instruments (P=.006 for dissector and P=.01 for scissors). In the suturing task, experienced surgeons require less time (P=.037) and distance travelled (P=.041) by the dissector. Conclusions: ...

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Section: Discussionunclassified

Utilidad de un sistema de seguimiento óptico de instrumental en cirugía laparoscópica para evaluación de destrezas motoras

Sánchez‐Margallo

Pagador

et al. 2014

Cirugía Española

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“…The pioneer vision-based methods [4,5] made use of color-maker segmentation [6] via low-level image processing (pixel thresholding and clustering [7]) to extract the shaft or the tip of instrument. These methods are accurate in tracking and efficient in computation, but suffer from unresolved issues of color and lighting variations.…”

Section: Introductionmentioning

confidence: 99%

Tracking-by-detection of surgical instruments in minimally invasive surgery via the convolutional neural network deep learning-based method

Zhao

Voros

Weng

et al. 2017

Computer Assisted Surgery

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Background: Worldwide propagation of minimally invasive surgeries (MIS) is hindered by their drawback of indirect observation and manipulation, while monitoring of surgical instruments moving in the operated body required by surgeons is a challenging problem. Tracking of surgical instruments by vision-based methods is quite lucrative, due to its flexible implementation via software-based control with no need to modify instruments or surgical workflow. Methods: A MIS instrument is conventionally split into a shaft and end-effector portions, while a 2D/3D tracking-by-detection framework is proposed, which performs the shaft tracking followed by the end-effector one. The former portion is described by line features via the RANSAC scheme, while the latter is depicted by special image features based on deep learning through a well-trained convolutional neural network. Results: The method verification in 2D and 3D formulation is performed through the experiments on ex-vivo video sequences, while qualitative validation on in-vivo video sequences is obtained. Conclusion: The proposed method provides robust and accurate tracking, which is confirmed by the experimental results: its 3D performance in ex-vivo video sequences exceeds those of the available state-of -the-art methods. Moreover, the experiments on in-vivo sequences demonstrate that the proposed method can tackle the difficult condition of tracking with unknown camera parameters. Further refinements of the method will refer to the occlusion and multi-instrumental MIS applications.

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“…[3]), and navigation systems which guide a surgical instrument to the targeted location in the robotic surgery (e.g. [4]), have been studied. To the best of our knowledge, however, a system that recognizes and points out any singularity in a surgical operation, which is defined as abnormal operation usually caused by the inexpertness of an Manuscript received November 19, 2012; revised January 25, 2013.…”

Section: Introductionmentioning

confidence: 99%

Modification of Distinction Method of Abnormality for Surgical Operation on the Basis of Surface EMG Signals

Ishii¹,

Sato²

2013

IJMMM

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Abstract-We have proposed a method for automatic identification of a surgical operation and on-line recognition of the singularity of the identified surgical operation based on operator's surface electromyogram, so far [5] . In this paper, the method for on-line recognition of the singularity of the surgical operation is improved. Using the built laparoscopic-surgery simulator with two forceps, the automatic identification of a surgical operation for procedure of "suturing" and the distinction of the singularity for the identified surgical operation, namely "insertion of a needle" in suturing, were carried out. Experimental results showed the effectiveness of the improvement.Index Terms-Surface EMG, distinction of singularity in operation, self-organizing map, surgical operation.

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Autonomous 3-d positioning of surgical instruments in robotized laparoscopic surgery using visual servoing

Cited by 196 publications

References 11 publications

Utilidad de un sistema de seguimiento óptico de instrumental en cirugía laparoscópica para evaluación de destrezas motoras

Utilidad de un sistema de seguimiento óptico de instrumental en cirugía laparoscópica para evaluación de destrezas motoras

Tracking-by-detection of surgical instruments in minimally invasive surgery via the convolutional neural network deep learning-based method

Modification of Distinction Method of Abnormality for Surgical Operation on the Basis of Surface EMG Signals

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