SCAN: System for Camera Autonomous Navigation in Robotic-Assisted Surgery

Col, Tommaso Da; Mariani, Andrea; Deguet, Anton; Menciassi, Arianna; Kazanzides, Peter; Momi, Elena De

doi:10.1109/iros45743.2020.9341548

Cited by 24 publications

(16 citation statements)

References 27 publications

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“…Since motion of the PSMs is strictly managed by the user only, different camera motion modalities will not affect this metric. The average duration of a single repetition was respectively 158.5 s for the autonomous camera and 207 s for the foot pedal modality, confirming what was previously stated by similar works [13], [22]. A reduction in completion time corresponds to a reduction in operational time, hence less physical stress and effort for the surgeon [23].…”

Section: Resultssupporting

confidence: 85%

“…A reactive camera control modality is intended to be a system which has no situation awareness, but rather reacts to the surgeon's input. Several control modalities can be considered reactive, such as eye gaze tracking [11], instrument tracking (both kinematics/dynamics based or image based) [12], [13], [14], external sensors guidance or voice control [8]. A proactive system determines the ongoing phase of the procedure and adjusts the camera's viewpoint by incorporating preexisting knowledge about the visualization requirements and types of movements needed for the procedure.…”

Section: B Related Workmentioning

confidence: 99%

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A virtual suturing task: proof of concept for awareness in autonomous camera motion

Pasini

Mariani

Munawar

et al. 2022

2022 Sixth IEEE International Conference on Robotic Computing (IRC)

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Robot-assisted Minimally Invasive Surgery (MIS) requires the surgeon to alternatively control both the surgical instruments and the endoscopic camera, or to leave this burden to an assistant. This increases the cognitive load and interrupts the workflow of the operation. Camera motion automation has been examined in the literature to mitigate these aspects, but still lacks situation awareness, a key factor for camera navigation enhancement. This paper presents the development of a phase-specific camera motion automation, implemented in Virtual Reality (VR) during a suturing task. A user study involving 10 users was carried out using the master console of the da Vinci Research Kit. Each subject performed the suturing task undergoing both the proposed autonomous camera motion and the traditional manual camera control. Results show that the proposed system can reduce operational time, decreasing both the user's mental and physical demand. Situational awareness is shown to be fundamental in exploiting the benefits introduced by camera motion automation.

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Section: Resultssupporting

confidence: 85%

Section: B Related Workmentioning

confidence: 99%

A virtual suturing task: proof of concept for awareness in autonomous camera motion

Pasini

Mariani

Munawar

et al. 2022

2022 Sixth IEEE International Conference on Robotic Computing (IRC)

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“…Effectively, an ideal camera assistant only functions at the task autonomy level. This is also in line with the recent study by Col et al (2020) , who concluded that it is important for endoscope control tasks to find the right trade-off between user control and autonomy.…”

Section: Related Worksupporting

confidence: 91%

Robotic Endoscope Control Via Autonomous Instrument Tracking

Gruijthuijsen

García-Peraza-Herrera

Borghesan

et al. 2022

Front. Robot. AI

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Many keyhole interventions rely on bi-manual handling of surgical instruments, forcing the main surgeon to rely on a second surgeon to act as a camera assistant. In addition to the burden of excessively involving surgical staff, this may lead to reduced image stability, increased task completion time and sometimes errors due to the monotony of the task. Robotic endoscope holders, controlled by a set of basic instructions, have been proposed as an alternative, but their unnatural handling may increase the cognitive load of the (solo) surgeon, which hinders their clinical acceptance. More seamless integration in the surgical workflow would be achieved if robotic endoscope holders collaborated with the operating surgeon via semantically rich instructions that closely resemble instructions that would otherwise be issued to a human camera assistant, such as “focus on my right-hand instrument.” As a proof of concept, this paper presents a novel system that paves the way towards a synergistic interaction between surgeons and robotic endoscope holders. The proposed platform allows the surgeon to perform a bimanual coordination and navigation task, while a robotic arm autonomously performs the endoscope positioning tasks. Within our system, we propose a novel tooltip localization method based on surgical tool segmentation and a novel visual servoing approach that ensures smooth and appropriate motion of the endoscope camera. We validate our vision pipeline and run a user study of this system. The clinical relevance of the study is ensured through the use of a laparoscopic exercise validated by the European Academy of Gynaecological Surgery which involves bi-manual coordination and navigation. Successful application of our proposed system provides a promising starting point towards broader clinical adoption of robotic endoscope holders.

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“…Many methods have been proposed to track instruments. [13] and [14] have used the kinematic chain of the robotic manipulator to track the position of instruments and employ it in the control of the camera. However, this method cannot be used in some traditional surgeries, such as in neurosurgery where surgeons manipulate instruments freehand without relying on robotic assistance.…”

Section: B Instrument Trackingmentioning

confidence: 99%

Towards Exoscope Automation in Neurosurgery: A Markerless Visual-Servoing Approach

Iovene

Casella

Iordache

et al. 2023

IEEE Trans. Med. Robot. Bionics

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Exoscopes are a promising tool for neurosurgeons, offering improved visualisation and ergonomics compared with traditional surgical microscopes. They consist of an external scope that projects the surgical field onto a 2D or 3D monitor, providing a wider field of view and better access to the surgical site. Despite the advantages, exoscopes present some limitations, such as the need for manual or foot joystick repositioning, which can disrupt the flow of the procedure and increase the risk of user error. In this study, a markerless visual-servoing approach for autonomous exoscope control is proposed to address these limitations and enhance the ergonomics and reduce the physical and cognitive load compared with traditional joystick control. The system uses visual information from the operating field to control the exoscope, eliminating the need for markers or additional tracking devices. The proposed approach was validated using a 7-DOF robotic manipulator with a stereo camera in an eye-in-hand configuration. Results showed that the system achieved 89 % accuracy in detecting the target and tracking its movement with a tracking error ranging from 0.50 ± 0.17 cm for low-speed movements to 1.38 ± 0.73 cm for high-speed movements. The proposed system also demonstrated improved efficiency, with a shorter execution time of 72.07 ± 19.36 s compared with 106.52±18.50 s for the foot-joystick control. Additionally, the time out of the FoV was significantly higher in the joystick control mode and the frequency of appearance of the instrument in the centre of the image was higher when using the proposed system. The NASA TLX results indicated lower physical and cognitive load compared with the joystick control-based modality.

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SCAN: System for Camera Autonomous Navigation in Robotic-Assisted Surgery

Cited by 24 publications

References 27 publications

A virtual suturing task: proof of concept for awareness in autonomous camera motion

A virtual suturing task: proof of concept for awareness in autonomous camera motion

Robotic Endoscope Control Via Autonomous Instrument Tracking

Towards Exoscope Automation in Neurosurgery: A Markerless Visual-Servoing Approach

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