An Experimental Comparison Towards Autonomous Camera Navigation to Optimize Training in Robot Assisted Surgery

Mariani, Andrea; Colaci, Giorgia; Col, Tommaso Da; Sanna, Nicole; Vendrame, Eleonora; Menciassi, Arianna; Momi, Elena De

doi:10.1109/lra.2020.2965067

Cited by 21 publications

(15 citation statements)

References 23 publications

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“…The average time out of the field of view was reduced while undergoing autonomous endoscope motion. This is in line with the functioning principle of the SCAN as well as with the results obtained in our previous works (Mariani et al, 2020;Da Col et al, 2020), showing a good implementation of the autonomous system in the research version of the da Vinci Surgical System ® .…”

Section: Overview Of Major Findingssupporting

confidence: 91%

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Automating Endoscope Motion in Robotic Surgery: A Usability Study on da Vinci-Assisted Ex Vivo Neobladder Reconstruction

et al. 2021

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Robots for minimally invasive surgery introduce many advantages, but still require the surgeon to alternatively control the surgical instruments and the endoscope. This work aims at providing autonomous navigation of the endoscope during a surgical procedure. The autonomous endoscope motion was based on kinematic tracking of the surgical instruments and integrated with the da Vinci Research Kit. A preclinical usability study was conducted by 10 urologists. They carried out an ex vivo orthotopic neobladder reconstruction twice, using both traditional and autonomous endoscope control. The usability of the system was tested by asking participants to fill standard system usability scales. Moreover, the effectiveness of the method was assessed by analyzing the total procedure time and the time spent with the instruments out of the field of view. The average system usability score overcame the threshold usually identified as the limit to assess good usability (average score = 73.25 > 68). The average total procedure time with the autonomous endoscope navigation was comparable with the classic control (p = 0.85 > 0.05), yet it significantly reduced the time out of the field of view (p = 0.022 < 0.05). Based on our findings, the autonomous endoscope improves the usability of the surgical system, and it has the potential to be an additional and customizable tool for the surgeon that can always take control of the endoscope or leave it to move autonomously.

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Section: Overview Of Major Findingssupporting

confidence: 91%

“…The AutoLap ® was integrated with a modality to follow a tool designated by the user ( Wijsman et al, 2018 ). In some previous experiments, we investigated the use of an autonomous endoscope navigation system referred to as SCAN (System for Camera Autonomous Navigation) ( Mariani et al, 2020 ; Da Col et al, 2020 ).…”

Section: Introductionmentioning

confidence: 99%

Automating Endoscope Motion in Robotic Surgery: A Usability Study on da Vinci-Assisted Ex Vivo Neobladder Reconstruction

et al. 2021

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“…Several studies proposed the development of training platforms in either a dry lab setting [20] or in simulation [21]. The research also focused on the development of training protocols, where the data from expert surgeons were used for mentoring [71], [119], [146] or the training curriculum was automatically adapted to the trainee [233], [235], [237], [261].…”

Section: Training Platforms and Protocolsmentioning

confidence: 99%

Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit

D'Ettorre

Mariani

Stilli

et al. 2021

IEEE Robot. Automat. Mag.

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This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.R obotic-assisted surgery is now well established in clinical practice and has become the gold-standard clinical treatment option for several clinical indications. The field of robotic-assisted surgery is expected to grow substantially in the next decade, with a range of new robotic devices emerging to address unmet clinical needs across different specialties. A vibrant surgical robotics research community is pivotal for conceptualizing such new systems as well as for developing and training the engineers and scientists to translate them into practice. The da Vinci Research Kit (dVRK), an academic and industry collaborative effort to repurpose decommissioned da Vinci surgical systems [Intuitive Surgical Inc. (ISI), California, USA] as a research platform for surgical robotics research, has been a key initiative for addressing a barrier to entry for new research groups in surgical robotics. In this article, we present an extensive review of the publications that have been facilitated by the dVRK over the past decade. We classify research efforts into different categories and outline some of the major challenges and needs for the robotics community to maintain and build upon this initiative.

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“…Besides, it should be noted that autonomous camera control can be very beneficial for the initial stages of surgical training, when the trainee is becoming familiar with robotic surgery, and thus simplifying the control can be significantly beneficial for the early stages of training. In this regard, the autonomous camera navigation during the robotic surgical training is investigated in [334] where the experimental evaluations suggested improved performances and efficiency of training with robot-assisted surgery. In summary, it can be mentioned that autonomous control of the camera can be considered as one modality of shared control (between the machine and the operator) to reduce the cognitive workload, enhancing ease-of-use and providing more safety and consistency of surgery.…”

Section: Task Decomposition Based Shared Controlmentioning

confidence: 99%

Review of Advanced Medical Telerobots

et al. 2020

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The advent of telerobotic systems has revolutionized various aspects of the industry and human life. This technology is designed to augment human sensorimotor capabilities to extend them beyond natural competence. Classic examples are space and underwater applications when distance and access are the two major physical barriers to be combated with this technology. In modern examples, telerobotic systems have been used in several clinical applications, including teleoperated surgery and telerehabilitation. In this regard, there has been a significant amount of research and development due to the major benefits in terms of medical outcomes. Recently telerobotic systems are combined with advanced artificial intelligence modules to better share the agency with the operator and open new doors of medical automation. In this review paper, we have provided a comprehensive analysis of the literature considering various topologies of telerobotic systems in the medical domain while shedding light on different levels of autonomy for this technology, starting from direct control, going up to command-tracking autonomous telerobots. Existing challenges, including instrumentation, transparency, autonomy, stochastic communication delays, and stability, in addition to the current direction of research related to benefit in telemedicine and medical automation, and future vision of this technology, are discussed in this review paper.

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An Experimental Comparison Towards Autonomous Camera Navigation to Optimize Training in Robot Assisted Surgery

Cited by 21 publications

References 23 publications

Automating Endoscope Motion in Robotic Surgery: A Usability Study on da Vinci-Assisted Ex Vivo Neobladder Reconstruction

Automating Endoscope Motion in Robotic Surgery: A Usability Study on da Vinci-Assisted Ex Vivo Neobladder Reconstruction

Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit

Review of Advanced Medical Telerobots

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