Video Wednesday
From UC Berkeley: "Autonomous Robot Surgery: Performing Surgical Subtasks without Human
Intervention Automating repetitive surgical subtasks such as suturing,
cutting and debridement can reduce surgeon fatigue and procedure times
and facilitate supervised tele-surgery. Programming is difficult because
human tissue is deformable and highly specular. 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 to tune parameters and if necessary update
the FSM structure. We evaluate the approach on 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. We describe the approach and physical experiments, which
yielded a success rate of 96% for 50 trials of the 3d-DVTP subtask and
70% for 20 trials of the 2d-PCOTP subtask."
For more details, please
refer to their paper: [pdf] 
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