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3D Perception based Imitation Learning under Limited Demonstration for Laparoscope Control in Robotic Surgery [article]

Bin Li, Ruofeng Wei, Jiaqi Xu, Bo Lu, Chi-Hang Yee, Chi-Fai Ng, Pheng-Ann Heng, Qi Dou, Yun-Hui Liu
2022 arXiv   pre-print
In this paper, we propose a novel Imitation Learning framework for Laparoscope Control (ILLC) with reinforcement learning (RL), which can efficiently learn the control policy from limited surgical video  ...  With adversarial training for IL, we obtain the laparoscope control policy based on the generated rollouts and surgical demonstrations.  ...  In this paper, we propose an adversarial imitation learning based approach [18] to learn the laparoscope control policy.  ... 
arXiv:2204.03195v1 fatcat:zjr7xfzsxnexxkyncqmetend2y

Robotics in General Surgery: Update and Future Perspectives

Bravo R, Arroyave MC
2015 Advances in Robotics & Automation  
In laparoscopic surgery the surgeon keeps control by handling patient's tissues inside an insufflated cavity with an external fulcrum point for instrumentation.  ...  Its performance is rooted in the strengths and weaknesses of laparoscopic surgery, being able to avoid the fulcrum effect, overcome the limited range of movements and depth perception, and dismiss the  ...  In laparoscopic surgery the surgeon keeps control by handling patient's tissues inside an insufflated cavity with an external fulcrum point for instrumentation.  ... 
doi:10.4172/2168-9695.s2-003 fatcat:qvk7ewwro5dvbp57rjurn4n33m

Data-driven Holistic Framework for Automated Laparoscope Optimal View Control with Learning-based Depth Perception [article]

Bin Li, Bo Lu, Yiang Lu, Qi Dou, Yun-Hui Liu
2021 arXiv   pre-print
Experiments are conducted using Universal Robot (UR) and Karl Storz Laparoscope/Instruments, which prove the feasibility of our domain knowledge and learning enabled framework for automated camera control  ...  Laparoscopic Field of View (FOV) control is one of the most fundamental and important components in Minimally Invasive Surgery (MIS), nevertheless, the traditional manual holding paradigm may easily bring  ...  Agrawal [7] presented an imitation learning-based method to generate the optimal endoscopic movement according to the current phase.  ... 
arXiv:2011.11241v2 fatcat:eniid456presritaptdpuli6ki

Robotic Transanal Total Mesorectal Excision (RTaTME): State of the Art

Fabio Rondelli, Alessandro Sanguinetti, Andrea Polistena, Stefano Avenia, Claudio Marcacci, Graziano Ceccarelli, Walter Bugiantella, Michele De Rosa
2021 Journal of Personalized Medicine  
Robotics might potentially simplify the technical steps of distal rectal dissection, with a shorter learning curve compared to the laparoscopic transanal approach, but with higher costs.  ...  The objective of this review is to critically analyze the available literature concerning robotic transanal TME in order to define its role in the management of rectal cancer and to depict future perspectives  ...  Despite the limited clinical use of robotic surgery, driven by economic costs and limited access, the technological advancement in this field of research is under continuous progression.  ... 
doi:10.3390/jpm11060584 fatcat:vk4wl3hgprdzjf4uchy7dlz3ty

Prevailing Trends in Haptic Feedback Simulation for Minimally Invasive Surgery

David Pinzon, Simon Byrns, Bin Zheng
2016 Surgical Innovation  
feedback in robotic surgery.  ...  The amount of direct hand-tool-tissue interaction and feedback in minimally invasive surgery varies from being attenuated in laparoscopy to being completely absent in robotic minimally invasive surgery  ...  Perrenot et al 35 validated the dV-Trainer (MIMIC Technologies, Seattle, WA), a virtual 3D haptic platform, as an assessment tool in robotic surgery.  ... 
doi:10.1177/1553350616628680 pmid:26839212 fatcat:suffldmfibax5fz7j2cikir5k4

Surgical robotics beyond enhanced dexterity instrumentation: a survey of machine learning techniques and their role in intelligent and autonomous surgical actions

Yohannes Kassahun, Bingbin Yu, Abraham Temesgen Tibebu, Danail Stoyanov, Stamatia Giannarou, Jan Hendrik Metzen, Emmanuel Vander Poorten
2015 International Journal of Computer Assisted Radiology and Surgery  
In this article we review the current role of machine learning (ML) techniques in the context of surgery with a focus on surgical robotics and we provide a perspective on the future possibilities for enhancing  ...  We performed searches on PubMed and IEEE Explore using combinations of the keywords: ML, surgery, robotics, surgical and medical robotics, skill learning, skill analysis, learning to perceive.  ...  Skill Analysis in Robotic Surgery Skill analysis is common to many disciplines and is known under different terms. In optimal control, a skill is the control policy to be designed.  ... 
doi:10.1007/s11548-015-1305-z pmid:26450107 fatcat:4p5qm2336bh2zk5hn26welu4wu

Advanced Intelligent Systems for Surgical Robotics [article]

Mai Thanh Thai, Phuoc Thien Phan, Shing Wong, Nigel H. Lovell, Thanh Nho Do
2020 arXiv   pre-print
currently implemented in existing surgical robotic systems.  ...  Robot-assisted surgeries offer many benefits over the conventional approach including lower risk of infection and blood loss, shorter recovery, and an overall safer procedure for patients.  ...  Automation for Robotic Surgery Automation for robotic surgery involves the use of a robot to perform surgical tasks under the control of partial or no human guidance.  ... 
arXiv:2001.00285v1 fatcat:eymmyaqgtve6jghuj4fd25jmby

Minimally invasive esophagectomy

Heinz Wykypiel, Thomas Schmid, Philipp Gehwolf
2019 memo - Magazine of European Medical Oncology  
Conclusions Minimally invasive surgery for esophageal malignancies offers advantages when performed in an environment with sufficient expertise and caseload.  ...  Methods Selected literature on minimally invasive surgery for esophageal cancer was identified using a PubMed search for the period 1990-2018 with the search terms esophagectomy, minimal invasive, robotic  ...  Fig. 8 8 Robotic tools enabling laparoscopic movements imitating the human hand (Da Vinci first Generation, Intuitive Surgical, Intl.)  ... 
doi:10.1007/s12254-019-0481-x fatcat:4fgbtbc6xndm5c7twbj3ysnvkm

Manual Intelligence as a Rosetta Stone for Robot Cognition [chapter]

Helge Ritter, Robert Haschke, Frank Röthling, Jochen J. Steil
2010 Springer Tracts in Advanced Robotics  
With the recent advent of anthropomorphic hand designs whose configuration space begins to approximate that of human hands in a realistic fashion, manual intelligence for robots is rapidly emerging as  ...  Therefore, we envisage manual intelligence as a "Rosetta stone" for robot cognition.  ...  for being able to learn to imitate the skill.  ... 
doi:10.1007/978-3-642-14743-2_12 fatcat:bpmgxcs65jaclm5rbdpskwghaa

Artificial Intelligence Surgery: How Do We Get to Autonomous Actions in Surgery?

Andrew A. Gumbs, Isabella Frigerio, Gaya Spolverato, Roland Croner, Alfredo Illanes, Elie Chouillard, Eyad Elyan
2021 Sensors  
All of these facets of AI will be fundamental to the development of more autonomous actions in surgery, unfortunately, only a limited number of surgeons have or seek expertise in this rapidly evolving  ...  in surgery.  ...  Data Availability Statement: No new data were created or analyzed in this study. Data sharing is not applicable to this article. Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s21165526 pmid:34450976 pmcid:PMC8400539 fatcat:xrghczfytvahzkmup5vmf6eb3a

SurRoL: An Open-source Reinforcement Learning Centered and dVRK Compatible Platform for Surgical Robot Learning [article]

Jiaqi Xu, Bin Li, Bo Lu, Yun-Hui Liu, Qi Dou, Pheng-Ann Heng
2021 arXiv   pre-print
The existing learning-based simulation platforms for medical robots suffer from limited scenarios and simplified physical interactions, which degrades the real-world performance of learned policies.  ...  In this work, we designed SurRoL, an RL-centered simulation platform for surgical robot learning compatible with the da Vinci Research Kit (dVRK).  ...  The latter requires raw image perception, which is essential in robotic control.  ... 
arXiv:2108.13035v1 fatcat:2qwmngvxqnedncqu5w253mvmie

A laparoscopic study investigating 3D vs 2D imaging systems using a pelvitrainer model with experts, non-experts, and students

Tibor Andrea Zwimpfer, Dominik Lacher, Bernhard Fellmann-Fischer, Michael Mueller
2020 BMC Surgery  
Background Vision is an essential element of laparoscopic surgery that defines the outcome of an operation in regards to time, mistakes and precision.  ...  The students demonstrated a significantly greater benefit from the 3D system when performing non-linear, continuous movements.  ...  For these purpose the laparoscopic clamps, as well as the area that was off-limits during the exercise, were connected to the counter.  ... 
doi:10.1186/s12893-020-00892-8 pmid:33167972 fatcat:6qac6x4r6ve7nc2cwxo3trnw3q

Superhuman Surgical Peg Transfer Using Depth-Sensing and Deep Recurrent Neural Networks [article]

Minho Hwang, Brijen Thananjeyan, Daniel Seita, Jeffrey Ichnowski, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg
2020 arXiv   pre-print
We consider the automation of the well-known peg-transfer task from the Fundamentals of Laparoscopic Surgery (FLS).  ...  We present an approach that leverages emerging innovations in depth sensing, deep learning, and Peiper's method for computing inverse kinematics with time-minimized joint motion.  ...  The da Vinci Research Kit was supported by the National Science Foundation, via the National Robotics Initiative (NRI), as part of the collaborative research project "Software Framework for Research in  ... 
arXiv:2012.12844v2 fatcat:f5vyqvr3wzh5hbzjdjopbv6s4u

Table of Contents

2020 IEEE Robotics and Automation Letters  
Zhang 3082 Development of Visible Manipulator With Multi-Gear Array Mechanism for Laparoscopic Surgery . , and M.  ...  Cavallaro 1642 Vision-Based Dynamic Virtual Fixtures for Tools Collision Avoidance in Robotic Surgery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ... 
doi:10.1109/lra.2020.2987582 fatcat:3qafzip5xrg5jliyngq4xxvjha

TheVirtualSurgeon

RICHARD M. SATAVA
1998 The Sciences  
We are becoming immersed in a growing repertoire of computer-based media for creating, distributing and interacting with digitized versions of the world, media that constitute the instrumentarium of a  ...  Surgery is experiencing rapid change in its culture, institutions, and material practices due to what we might best characterize as an accelerating technological revolution in medialization.  ...  A human team clearly programs the robot, but the robot enhances perception and actually guides the hand of the surgeon, correcting for errors due to (human-generated) hand tremor.  ... 
doi:10.1002/j.2326-1951.1998.tb03676.x fatcat:5czdrs66aze2bnh27q5ml52eme
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