Preoperative positioning planning for a robot‐assisted minimally invasive surgical system based on accuracy and safety

Su, Peng; Li, Jiang; Yue, Chao; Liu, Tian; Liu, Baoguo; Li, Jian

doi:10.1002/rcs.2405

Cited by 2 publications

(2 citation statements)

References 41 publications

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“…Furthermore, several studies have explored the challenge of automating complex tasks such as suturing [7], [8], [40], [41], stitch planning [41], needle relay [20], and endoscopic camera control [42]- [47]. Research on preoperative planning strategies [48]- [51] emphasizes the influence of configuration choice in achieving optimal surgical outcomes.…”

Section: Related Work a Robot Autonomy In Mismentioning

confidence: 99%

Toward Autonomous Robotic Minimally Invasive Surgery: A Hybrid Framework Combining Task-Motion Planning and Dynamic Behavior Trees

Fozilov,

Colan,

Sekiyama

et al. 2023

IEEE Access

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The growing need for high levels of autonomy in Autonomous Robotic Surgery Systems (ARSS) calls for innovative approaches to reduce surgeons' cognitive load, optimize hospital workflows, and ensure efficient task-level reasoning and adaptation during execution. This paper presents a novel hybrid framework that synergistically combines Task-Motion Planning and Dynamic Behavior Trees for ARSS in Minimally Invasive Surgery. Our approach is designed to address the challenges of coordinating multiple surgical tools within a small workspace, thereby making complex surgical tasks like multi-throw suturing feasible and efficient. Through an extensive evaluation in simulation across diverse initial conditions and noise scenarios, the proposed method demonstrates improved success rates, reduced execution times, and fewer regrasps compared to standalone approaches. Furthermore, it showcases robustness under increased noise conditions. By applying our framework to a complex multi-throw suturing task, we illustrate its capability to seamlessly handle comprehensive suturing tasks, including needle picking, insertion, extraction, and the handover of the needle between Patient Side Manipulators. The results suggest that our hybrid approach not only enhances ARSS autonomy but also adapts effectively to unexpected environmental changes, laying the groundwork for its potential applicability in real-world surgical robotics.

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Section: Related Work a Robot Autonomy In Mismentioning

confidence: 99%

Toward Autonomous Robotic Minimally Invasive Surgery: A Hybrid Framework Combining Task-Motion Planning and Dynamic Behavior Trees

Fozilov,

Colan,

Sekiyama

et al. 2023

IEEE Access

View full text Add to dashboard Cite

show abstract

“…Central to the success of RAMIS is the endoscope, a long, thin, and remotely controlled device that provides surgeons with a live video feed from inside the patient’s body. Proper positioning of the endoscope and other surgical instruments is crucial, and even a small misalignment can lead to complications [ 2 ]. Currently, surgical assistants manually handle the endoscope, guided by the lead surgeon’s verbal commands.…”

Section: Introductionmentioning

confidence: 99%

Endoscope Automation Framework with Hierarchical Control and Interactive Perception for Multi-Tool Tracking in Minimally Invasive Surgery

Fozilov,

Colan,

Davila

et al. 2023

Sensors

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In the context of Minimally Invasive Surgery, surgeons mainly rely on visual feedback during medical operations. In common procedures such as tissue resection, the automation of endoscopic control is crucial yet challenging, particularly due to the interactive dynamics of multi-agent operations and the necessity for real-time adaptation. This paper introduces a novel framework that unites a Hierarchical Quadratic Programming controller with an advanced interactive perception module. This integration addresses the need for adaptive visual field control and robust tool tracking in the operating scene, ensuring that surgeons and assistants have optimal viewpoint throughout the surgical task. The proposed framework handles multiple objectives within predefined thresholds, ensuring efficient tracking even amidst changes in operating backgrounds, varying lighting conditions, and partial occlusions. Empirical validations in scenarios involving single, double, and quadruple tool tracking during tissue resection tasks have underscored the system’s robustness and adaptability. The positive feedback from user studies, coupled with the low cognitive and physical strain reported by surgeons and assistants, highlight the system’s potential for real-world application.

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Preoperative positioning planning for a robot‐assisted minimally invasive surgical system based on accuracy and safety

Cited by 2 publications

References 41 publications

Toward Autonomous Robotic Minimally Invasive Surgery: A Hybrid Framework Combining Task-Motion Planning and Dynamic Behavior Trees

Toward Autonomous Robotic Minimally Invasive Surgery: A Hybrid Framework Combining Task-Motion Planning and Dynamic Behavior Trees

Endoscope Automation Framework with Hierarchical Control and Interactive Perception for Multi-Tool Tracking in Minimally Invasive Surgery

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