Bimanual teleoperation with heart motion compensation on the da Vinci® Research Kit: Implementation and preliminary experiments

Ruszkowski, Angelica; Schneider, Charles L.; Mohareri, Omid; Salcudean, Septimiu E.

doi:10.1109/icra.2016.7487601

Cited by 10 publications

(8 citation statements)

References 19 publications

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“…to general motion compensation for working in regions undergoing physiological motion [68] or control considering uncertainties [204]. [13]- [18] [13]- [15] [13]- [15], [17], [18] [13]- [15], [17], [18] [19] [19], [20] [21]…”

Section: Database Search and Filteringmentioning

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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Section: Database Search and Filteringmentioning

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.

View full text Add to dashboard Cite

show abstract

“…This task is a form of shared autonomy (see Section 3.2) using which robots can utilize computer vision to compensate for the repetitive motions [12,199,203,[206][207][208]. This will significantly increase the accuracy of the operation since it significantly reduces the mental, cognitive, and physical load on the surgeons during operation [10,11,200,[209][210][211][212].…”

Section: Motor Augmentation Through Sl/sf Telerobotic Surgerymentioning

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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“…Non-image-based sensors have also been used to collect moving organ motion data such as sonomicrometric sensors (Bebek and Cavusoglu, 2007 ), optical measurement (Ruszkowski et al, 2016 ), and electromagnetic tracking system (Loschak et al, 2020 ).…”

Section: Teleoperation For Organ Motion Compensationmentioning

confidence: 99%

COVID-19 Pandemic Spurs Medical Telerobotic Systems: A Survey of Applications Requiring Physiological Organ Motion Compensation

Cheng

Tavakoli

2020

Front. Robot. AI

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The coronavirus disease 2019 (COVID-19) pandemic has resulted in public health interventions such as physical distancing restrictions to limit the spread and transmission of the novel coronavirus, causing significant effects on the delivery of physical healthcare procedures worldwide. The unprecedented pandemic spurs strong demand for intelligent robotic systems in healthcare. In particular, medical telerobotic systems can play a positive role in the provision of telemedicine to both COVID-19 and non-COVID-19 patients. Different from typical studies on medical teleoperation that consider problems such as time delay and information loss in long-distance communication, this survey addresses the consequences of physiological organ motion when using teleoperation systems to create physical distancing between clinicians and patients in the COVID-19 era. We focus on the control-theoretic approaches that have been developed to address inherent robot control issues associated with organ motion. The state-of-the-art telerobotic systems and their applications in COVID-19 healthcare delivery are reviewed, and possible future directions are outlined.

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Bimanual teleoperation with heart motion compensation on the da Vinci® Research Kit: Implementation and preliminary experiments

Cited by 10 publications

References 19 publications

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

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

Review of Advanced Medical Telerobots

COVID-19 Pandemic Spurs Medical Telerobotic Systems: A Survey of Applications Requiring Physiological Organ Motion Compensation

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