![]() ![]() 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.Įxact Reachability Analysis for Planning Skew-Line Needle Arrangements for Automated Brachytherapy. 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. The robot then executes the FSM repeatedly to tune parameters and if necessary update the FSM structure. 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. Programming is difficult because human tissue is deformable and highly specular. IEEE International Conference on Robotics & Automation (ICRA)įinalist: Best Paper, Student Paper, and Medical Robotics Paper Award abstract project videoĪutomating repetitive surgical subtasks such as suturing, cutting and debridement can reduce surgeon fatigue and procedure times and facilitate supervised tele-surgery. Learning by Observation for Surgical Subtasks: Multilateral Cutting of 3D Viscoelastic and 2D Orthotropic Tissue Phantoms. Results suggest that the probe can detect subcutaneous structures in phantoms of diameter 2.25 mm at a depth of up to 5mm below the tissue surface. We analyzed signal-to-noise ratios with multiple diameters of silicone cylinders (1.58-4.75 mm) at varying subcutaneous depths (1-5 mm) with a range of indentation depths (0-8 mm) and sliding speeds (0.5-21 mm/s). We report experiments for quasi-static sliding palpation with silicone based tissue phantoms with embedded cylinders as subcutaneous blood vessel phantoms. The prototype has a cross-section of less than 15mm×10mm and fits on the end of an 8mm diameter needle driver in the Intuitive Surgical da Vinci ® Research Kit (dVRK). The probe is intended to be single-use and disposable, built from 3D printed parts and commercially available electronics. It measures probe tip deflection using a Hall Effect sensor as the spherical tip is moved tangentially across a surface under automated control. We present the design and evaluation of a novel low-cost palpation probe for Robot assisted Minimally Invasive Surgery (RMIS) for localizing subcutaneous blood vessels. ![]() (CASE)īest Poster/Demo Award at ICRA 2015 Workshop on Shared Frameworks for Medical Robotics abstract pdf project IEEE International Conference on Automation Science & Engg. Results suggest that success can be achieved in this long-horizon task with algorithmic policies in over 95% of instances and that the number of actions required scales approximately linearly with the size of the heap.Ī Single-Use Haptic Palpation Probe for Locating Subcutaneous Blood Vessels in Robot-Assisted Minimally Invasive Surgery. We present a study of 5 algorithmic policies for mechanical search, with 15,000 simulated trials and 300 physical trials for heaps ranging from 10 to 20 objects. The robot uses an RGBD perception system and control policies to iteratively select, parameterize, and perform one of 3 actions – push, suction, grasp – until the target object is extracted, or either a time limit is exceeded, or no high confidence push or grasp is available. In this paper, we formalize Mechanical Search and study a version where distractor objects are heaped over the target object in a bin. Mechanical Search describes the class of tasks where the goal is to locate and extract a known target object. ![]() When operating in unstructured environments such as warehouses, homes, and retail centers, robots are frequently required to interactively search for and retrieve specific objects from cluttered bins, shelves, or tables. IEEE International Conference on Robotics and Automation (ICRA) Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter. ![]()
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