Development and evaluation of an autonomous camera control algorithm on the da Vinci Surgical System

Eslamian, Shahab; Reisner, Luke A.; Pandya, Abhilash

doi:10.1002/rcs.2036

Cited by 30 publications

(29 citation statements)

References 18 publications

(33 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…As another relevant topic, path planning methods for the camera control have also been evaluated in the literature, such as an algorithm based on rapidly exploring random tree (RRT) [332]. The development of autonomous camera control of the da Vinci Surgical System is investigated in [333]. It can generate autonomously-centered and zoomed viewpoints by keeping the surgical tools in the camera's field of view.…”

Section: Task Decomposition Based Shared Controlmentioning

confidence: 99%

Review of Advanced Medical Telerobots

et al. 2020

View full text Add to dashboard Cite

The advent of telerobotic systems has revolutionized various aspects of the industry and human life. This technology is designed to augment human sensorimotor capabilities to extend them beyond natural competence. Classic examples are space and underwater applications when distance and access are the two major physical barriers to be combated with this technology. In modern examples, telerobotic systems have been used in several clinical applications, including teleoperated surgery and telerehabilitation. In this regard, there has been a significant amount of research and development due to the major benefits in terms of medical outcomes. Recently telerobotic systems are combined with advanced artificial intelligence modules to better share the agency with the operator and open new doors of medical automation. In this review paper, we have provided a comprehensive analysis of the literature considering various topologies of telerobotic systems in the medical domain while shedding light on different levels of autonomy for this technology, starting from direct control, going up to command-tracking autonomous telerobots. Existing challenges, including instrumentation, transparency, autonomy, stochastic communication delays, and stability, in addition to the current direction of research related to benefit in telemedicine and medical automation, and future vision of this technology, are discussed in this review paper.

show abstract

Section: Task Decomposition Based Shared Controlmentioning

confidence: 99%

Review of Advanced Medical Telerobots

et al. 2020

View full text Add to dashboard Cite

show abstract

“…This equipment, combined with the Robot Operating System (ROS) software framework [24], is used to record high resolution data at a high rate (100 Hz for encoders and approximately 30 Hz for video) while participants are performing the selected tasks. In addition, there are very specific registration and calibration requirements of the system to accurately record and move the robot, which we describe in [25]. Briefly, using optimization-based techniques and paired-point matching between the camera arm and the tool arms, an accurate representation of the base transforms can be derived.…”

Section: Robot Operating System Recording Softwarementioning

confidence: 99%

A Robotic Recording and Playback Platform for Training Surgeons and Learning Autonomous Behaviors Using the da Vinci Surgical System

et al. 2019

Self Cite

View full text Add to dashboard Cite

This paper describes a recording and playback system developed using a da Vinci Standard Surgical System and research kit. The system records stereo laparoscopic videos, robot arm joint angles, and surgeon–console interactions in a synchronized manner. A user can then, on-demand and at adjustable speeds, watch stereo videos and feel recorded movements on the hand controllers of entire procedures or sub procedures. Currently, there is no reported comprehensive ability to capture expert surgeon movements and insights and reproduce them on hardware directly. This system has important applications in several areas: (1) training of surgeons, (2) collection of learning data for the development of advanced control algorithms and intelligent autonomous behaviors, and (3) use as a “black box” for retrospective error analysis. We show a prototype of such an immersive system on a clinically-relevant platform along with its recording and playback fidelity. Lastly, we convey possible research avenues to create better systems for training and assisting robotic surgeons.

show abstract

“…Many current research lines are oriented toward increasing the level of robot autonomy to assist surgeons and to help in reducing their workload, especially for trivial but time-consuming tasks. Pandya et al identified endoscope control as a near-term development for automation in surgical robotics ( Eslamian et al, 2020 ; Pandya et al, 2014 ). In a general sense, autonomous endoscope systems take care of optimal viewpoint without requiring continuous readjustments from the operator.…”

Section: Introductionmentioning

confidence: 99%

Automating Endoscope Motion in Robotic Surgery: A Usability Study on da Vinci-Assisted Ex Vivo Neobladder Reconstruction

et al. 2021

View full text Add to dashboard Cite

Robots for minimally invasive surgery introduce many advantages, but still require the surgeon to alternatively control the surgical instruments and the endoscope. This work aims at providing autonomous navigation of the endoscope during a surgical procedure. The autonomous endoscope motion was based on kinematic tracking of the surgical instruments and integrated with the da Vinci Research Kit. A preclinical usability study was conducted by 10 urologists. They carried out an ex vivo orthotopic neobladder reconstruction twice, using both traditional and autonomous endoscope control. The usability of the system was tested by asking participants to fill standard system usability scales. Moreover, the effectiveness of the method was assessed by analyzing the total procedure time and the time spent with the instruments out of the field of view. The average system usability score overcame the threshold usually identified as the limit to assess good usability (average score = 73.25 > 68). The average total procedure time with the autonomous endoscope navigation was comparable with the classic control (p = 0.85 > 0.05), yet it significantly reduced the time out of the field of view (p = 0.022 < 0.05). Based on our findings, the autonomous endoscope improves the usability of the surgical system, and it has the potential to be an additional and customizable tool for the surgeon that can always take control of the endoscope or leave it to move autonomously.

show abstract

Development and evaluation of an autonomous camera control algorithm on the da Vinci Surgical System

Cited by 30 publications

References 18 publications

Review of Advanced Medical Telerobots

Review of Advanced Medical Telerobots

A Robotic Recording and Playback Platform for Training Surgeons and Learning Autonomous Behaviors Using the da Vinci Surgical System

Automating Endoscope Motion in Robotic Surgery: A Usability Study on da Vinci-Assisted Ex Vivo Neobladder Reconstruction

Contact Info

Product

Resources

About