Development and evaluation of the second version of scrub nurse robot (SNR) for endoscopic and laparoscopic surgery

Yoshimitsu, Kitaro; Miyawaki, Fujio; Sadahiro, Teruyoshi; Ohnuma, Kentaro; Fukui, Yasuhiro; Hashimoto, Daijo; Masamune, Ken

doi:10.1109/iros.2007.4399359

Cited by 21 publications

(8 citation statements)

References 3 publications

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“…[23,38] target the development of a robotic scrub nurse that automatically provides the correct instrument to the surgeon. The approach is based on time-automata combined with a vision front-end.…”

Section: Related Workmentioning

confidence: 99%

Statistical modeling and recognition of surgical workflow

Padoy

Blum

Ahmadi

et al. 2012

Medical Image Analysis

228

164

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Section: Related Workmentioning

confidence: 99%

Statistical modeling and recognition of surgical workflow

Padoy

Blum

Ahmadi

et al. 2012

Medical Image Analysis

228

164

View full text Add to dashboard Cite

“…The EASOP [16] is a robotic endoscope holder controlled by means of speech. The RSN system developed by Yoshimitsu et al, [17] used voice control for handling laparoscopic surgeries. It also used depth-based action recognition for instrument use prediction.…”

Section: Previous Work On Surgical Robotsmentioning

confidence: 99%

Robot, Pass Me the Scissors! How Robots Can Assist Us in the Operating Room

Wachs

2012

Lecture Notes in Computer Science

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The inclusion of robotics and automation to support and augment surgical performance offers the promise of shorter operating times, higher accuracy and fewer risks compared with traditional, human-only surgery. This paper discusses current research in the area of surgical robotics and human-robot collaboration. A multimodal robotic scrub nurse (Gestonurse) for the operating room (OR) is presented as a case study. Gestonurse assists the main surgeon by passing surgical instruments, thereby releasing the surgical technician to perform other tasks. Such a robotic system has the potential to reduce miscommunication and compensate for understaffing. The implications of the introduction of surgical robots, as assistants rather than autonomous agents, are discussed in terms of the societal and technological requirements. Quantitative and qualitative findings are presented as evidence to support the guidelines discussed.

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“…Context modeling for real-time recognition of the current surgical task has been addressed in [10], [11], [12], [13], [14], typically using automata or Hidden Markov Models. But, these approaches have not yet been tested for modifying the execution of the operation.…”

Section: Related Workmentioning

confidence: 99%

Human-Machine Collaborative surgery using learned models

Padoy

Hager

2011

2011 IEEE International Conference on Robotics and Automation

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In the future of surgery, tele-operated robotic assistants will offer the possibility of performing certain commonly occurring tasks autonomously. Using a natural division of tasks into subtasks, we propose a novel surgical Human-Machine Collaborative (HMC) system in which portions of a surgical task are performed autonomously under complete surgeon's control, and other portions manually. Our system automatically identifies the completion of a manual subtask, seamlessly executes the next automated task, and then returns control back to the surgeon. Our approach is based on learning from demonstration. It uses Hidden Markov Models for the recognition of task completion and temporal curve averaging for learning the executed motions. We demonstrate our approach using a da Vinci tele-surgical robot. We show on two illustrative tasks where such human-machine collaboration is intuitive that automated control improves the usage of the master manipulator workspace. Because such a system does not limit the traditional use of the robot, but merely enhances its capabilities while leaving full control to the surgeon, it provides a safe and acceptable solution for surgical performance enhancement.

show abstract

Development and evaluation of the second version of scrub nurse robot (SNR) for endoscopic and laparoscopic surgery

Cited by 21 publications

References 3 publications

Statistical modeling and recognition of surgical workflow

Statistical modeling and recognition of surgical workflow

Robot, Pass Me the Scissors! How Robots Can Assist Us in the Operating Room

Human-Machine Collaborative surgery using learned models

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