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, Walter D Boyd, Susan Lim, Pieter Abbeel, Ken Goldberg

Research output: Chapter in Book/Report/Conference proceedingConference contribution

57 Scopus citations

Abstract

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 motion sequences 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 with repeatability of 96% for 50 trials of the 3d-DVTP subtask and 70% for 20 trials of the 2d-PCOTP subtask. A video is available at: http://j.mp/Robot-Surgery-Video-Oct-2014.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1202-1209
Number of pages8
Volume2015-June
EditionJune
DOIs
StatePublished - Jun 29 2015
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: May 26 2015May 30 2015

Other

Other2015 IEEE International Conference on Robotics and Automation, ICRA 2015
CountryUnited States
CitySeattle
Period5/26/155/30/15

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Murali, A., Sen, S., Kehoe, B., Garg, A., McFarland, S., Patil, S., Boyd, W. D., Lim, S., Abbeel, P., & Goldberg, K. (2015). Learning by observation for surgical subtasks: Multilateral cutting of 3D viscoelastic and 2D Orthotropic Tissue Phantoms. In Proceedings - IEEE International Conference on Robotics and Automation (June ed., Vol. 2015-June, pp. 1202-1209). [7139344] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2015.7139344