Compensatory motion scaling for time-delayed robotic surgery

Orosco, Ryan K.; Lurie, Benjamin; Matsuzaki, Takashi; Funk, Emily K.; Divi, Vasu; Holsinger, F. Christopher; Hong, Steven; Richter, Florian; Das, Nikhil; Yip, Michael C.

doi:10.1007/s00464-020-07681-7

Cited by 30 publications

(19 citation statements)

References 28 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Although the results presented provide a limited quantity of data points for validating motion scaling to enable remote telesurgery, it does show a proof of concept for live surgery implementations and the limited results do align with our previous laboratory experiments [8], [9]. The motion scaling implementation on dVRK sends telecommands and visual feedback over network so the remote-administrator does not need to be local to the bed-side-manipulators.…”

Section: Discussionsupporting

confidence: 64%

“…Two pigs are used to get a full set of experimental results. The breakdown of various delay and motion scaling scenarios, based on our previous work [8], [9], are:…”

Section: In-vivo Experimentation and Resultsmentioning

confidence: 99%

“…Previously, we investigated motion scaling techniques to help alleviate the challenges in performing complex manipulations when teleoperating surgical robots under delay [8], [9]. A flowchart of the motion scaling solutions are shown in Fig.…”

Section: Motion Scaling For Remote Telesurgerymentioning

confidence: 99%

“…Despite the immense work that is currently being conducted in this field, there is a paucity of innovative designs that have Fig. 1: From bench to bedside: the top two figures are from previous laboratory experiments [8], [9] and bottom figure is from an in-vivo thyroidectomy on a porcine model with dVRK. The experiments are conducted under delay to simulate a remote telesurgery scenario, and motion scaling solutions are applied to overcome the deleterious effects of signal latency.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

From Bench to Bedside: The First Live Robotic Surgery on the dVRK to Enable Remote Telesurgery with Motion Scaling

Richter

Funk

Park

et al. 2021

2021 International Symposium on Medical Robotics (ISMR)

Self Cite

View full text Add to dashboard Cite

Innovations from surgical robotic research rarely translates to live surgery due to the significant difference between the lab and a live environment. Live environments require considerations that are often overlooked during early stages of research such as surgical staff, surgical procedure, and the challenges of working with live tissue. One such example is the da Vinci Research Kit (dVRK) which is used by over 40 robotics research groups and represents an open-sourced version of the da Vinci® Surgical System. Despite dVRK being available for nearly a decade and the ideal candidate for translating research to practice on over 5,000 da Vinci® Systems used in hospitals around the world, not one live surgery has been conducted with it. In this paper, we address the challenges, considerations, and solutions for translating surgical robotic research from bench-to-bedside. This is explained from the perspective of a remote telesurgery scenario where motion scaling solutions previously experimented in a lab setting are translated to a live pig surgery. This study presents results from the first ever use of a dVRK in a live animal and discusses how the surgical robotics community can approach translating their research to practice.

show abstract

Section: Discussionsupporting

confidence: 64%

“…Two pigs are used to get a full set of experimental results. The breakdown of various delay and motion scaling scenarios, based on our previous work [8], [9], are:…”

Section: In-vivo Experimentation and Resultsmentioning

confidence: 99%

Section: Motion Scaling For Remote Telesurgerymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

From Bench to Bedside: The First Live Robotic Surgery on the dVRK to Enable Remote Telesurgery with Motion Scaling

Richter

Funk

Park

et al. 2021

2021 International Symposium on Medical Robotics (ISMR)

Self Cite

View full text Add to dashboard Cite

show abstract

“…More investigation on the effect of time delay on the surgeon's performance in the medical teleoperation systems is explored by Rosen and Hannaford ( 2006 ) and Lum et al ( 2009 ). Also, Orosco et al ( 2020 ) found that negative motion scaling (less remote instrument movement for a particular master controller movement) improved performance for time-delayed robotic surgery.…”

Section: Introductionmentioning

confidence: 99%

A Brief Survey of Telerobotic Time Delay Mitigation

2020

View full text Add to dashboard Cite

There is a substantial number of telerobotics and teleoperation applications ranging from space operations, ground/aerial robotics, drive-by-wire systems to medical interventions. Major obstacles for such applications include latency, channel corruptions, and bandwidth which limit teleoperation efficacy. This survey reviews the time delay problem in teleoperation systems. We briefly review different solutions from early approaches which consist of control-theory-based models and user interface designs and focus on newer approaches developed since 2014. Future solutions to the time delay problem will likely be hybrid solutions which include modeling of user intent, prediction of robot movements, and time delay prediction all potentially using time series prediction methods. Hence, we examine methods that are primarily based on time series prediction. Recent prediction approaches take advantage of advances in nonlinear statistical models as well as machine learning and neural network techniques. We review Recurrent Neural Networks, Long Short-Term Memory, Sequence to Sequence, and Generative Adversarial Network models and examine each of these approaches for addressing time delay. As time delay is still an unsolved problem, we suggest some possible future research directions from information-theory-based modeling, which may lead to promising new approaches to advancing the field.

show abstract

A robotic puncture system with optical and mechanical feedback under respiratory motion

Zhang

Bao

et al. 2022

Robotics Computer Surgery

View full text Add to dashboard Cite

Puncture robot can improve the accuracy and efficiency of puncture surgery, such as thoracoabdominal and liver puncture. However, as soft tissue is deformed and shifted under respiratory motion and during the puncture process, the needle is pulled, resulting in the needle's bending and deformation, which increases the risks and sufferings of the patient, a robotic puncture system with optical and mechanical feedback is necessary. Therefore, this paper proposes a multi-information sensing 'guide-clamp' end effector for puncture surgery to accurately detect the posture and force on the puncture needle in real time. And gravity bias method with trajectory planning and the compensational controlling model are also proposed to offset the interference of self-weight and achieve zero force following. This system is evaluated by the experiments of robot controlling and human tissue simulation and the results prove the excellent robustness of the system, which meet the clinical requirement.

show abstract

Compensatory motion scaling for time-delayed robotic surgery

Cited by 30 publications

References 28 publications

From Bench to Bedside: The First Live Robotic Surgery on the dVRK to Enable Remote Telesurgery with Motion Scaling

From Bench to Bedside: The First Live Robotic Surgery on the dVRK to Enable Remote Telesurgery with Motion Scaling

A Brief Survey of Telerobotic Time Delay Mitigation

A robotic puncture system with optical and mechanical feedback under respiratory motion

Contact Info

Product

Resources

About