Robohub.org
 

Video: Autonomous robot surgery on deformable tissue phantoms

by , and
13 November 2014



share this:
Goldberg_debridement-high-res

Automating repetitive surgical subtasks such as cutting and debridement can facilitate supervised tele-surgery, and reduce surgeon fatigue and procedure times. Programming these tasks can be difficult, however, in part because human tissue is deformable. Using the da Vinci Research Kit (DVRK) robotic surgical assistant, we explore a “Learning By Observation” (LBO) approach where we identify, segment, and parameterize sub-trajectories (“surgemes”) and sensor conditions to build a finite state machine (FSM) for each subtask. The robot then executes the FSM repeatedly in order to tune parameters and update the FSM structure.

A video from UC Berkeley’s new Center for Automation and Learning for Medical Robotics (Cal-MR) demonstrates how the approach can be used to automate two surgical subtasks: debridement of 3D Viscoelastic Tissue Phantoms (3d-DVTP), in which small target fragments are removed from a 3D viscoelastic tissue phantom, and Pattern Cutting of 2D Orthotropic Tissue Phantoms (2d-PCOTP), a step in the standard Fundamentals of Laparoscopic Surgery training suite in which a specified circular area must be cut from a sheet of orthotropic tissue phantom.

Initial physical experiments yielded a success rate of 96% for 50 trials of the 3d-DVTP subtask and 70% for 20 trials of the 2d-PCOTP subtask.

Paper under review:

Learning by Observation for Surgical Subtasks: Multilateral Cutting of 3D Viscoelastic and 2D Orthotropic Tissue Phantoms. Adithyavairavan Murali, Siddarth Sen, Ben Kehoe, Animesh Garg, Seth McFarland, Sachin Patil, W. Douglas Boyd, Susan Lim, Pieter Abbeel, Ken Goldberg, UC Berkeley. IEEE International Conference on Robotics and Automation. May, 2015.



tags: , , , , ,


Sachin Patil is postdoctoral researcher in the research groups of Prof. Pieter Abbeel and Prof. Ken Goldberg at the University of California, Berkeley.
Sachin Patil is postdoctoral researcher in the research groups of Prof. Pieter Abbeel and Prof. Ken Goldberg at the University of California, Berkeley.

Pieter Abbeel is currently on the faculty at UC Berkeley in the Department of Electrical Engineering and Computer Sciences.
Pieter Abbeel is currently on the faculty at UC Berkeley in the Department of Electrical Engineering and Computer Sciences.

Ken Goldberg is a roboticist and artist.
Ken Goldberg is a roboticist and artist.





Related posts :



Congratulations to the #ICRA2024 best paper winners

The winners and finalists in the different categories have been announced.
20 May 2024, by

Robot Talk Episode 85 – Margarita Chli

In the latest episode of the Robot Talk podcast, Claire chatted to Margarita Chli from the University of Cyprus all about vision, navigation, and small aerial drones.
17 May 2024, by

What’s coming up at #ICRA2024?

Find out what's on the programme at the IEEE International Conference on Robotics and Automation.
10 May 2024, by

Octopus inspires new suction mechanism for robots

Suction cup grasping a stone - Image credit: Tianqi Yue The team, based at Bristol Robotics Laboratory, studied the structures of octopus biological suckers,  which have superb adaptive s...
18 April 2024, by

Open Robotics Launches the Open Source Robotics Alliance

The Open Source Robotics Foundation (OSRF) is pleased to announce the creation of the Open Source Robotics Alliance (OSRA), a new initiative to strengthen the governance of our open-source robotics so...

Robot Talk Episode 77 – Patricia Shaw

In the latest episode of the Robot Talk podcast, Claire chatted to Patricia Shaw from Aberystwyth University all about home assistance robots, and robot learning and development.
18 March 2024, by





Robohub is supported by:




Would you like to learn how to tell impactful stories about your robot or AI system?


scicomm
training the next generation of science communicators in robotics & AI


©2024 - Association for the Understanding of Artificial Intelligence


 












©2021 - ROBOTS Association