Semi-autonomous electrosurgery for tumor resection using a multi-degree of freedom electrosurgical tool and visual servoing

Opfermann, Justin D.; Léonard, Simon; Decker, Ryan; Uebele, Nicholas; Bayne, Christopher E.; Joshi, Arjun S.; Krieger, Axel

doi:10.1109/iros.2017.8206210

Cited by 35 publications

(23 citation statements)

References 38 publications

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“…There are several other systems aimed at autonomous surgeries (or part thereof) in different areas (orthopaedic, radiotherapy, etc.). There also exist several robots, not designed for autonomy, which are adapted for autonomous tasks (Raven, DVRK) …”

Section: Common Criteriamentioning

confidence: 99%

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Legal, regulatory, and ethical frameworks for development of standards in artificial intelligence (AI) and autonomous robotic surgery

O’Sullivan

Nevejans

Allen

et al. 2019

Robotics Computer Surgery

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Background This paper aims to move the debate forward regarding the potential for artificial intelligence (AI) and autonomous robotic surgery with a particular focus on ethics, regulation and legal aspects (such as civil law, international law, tort law, liability, medical malpractice, privacy and product/device legislation, among other aspects). Methods We conducted an intensive literature search on current or emerging AI and autonomous technologies (eg, vehicles), military and medical technologies (eg, surgical robots), relevant frameworks and standards, cyber security/safety‐ and legal‐systems worldwide. We provide a discussion on unique challenges for robotic surgery faced by proposals made for AI more generally (eg, Explainable AI) and machine learning more specifically (eg, black box), as well as recommendations for developing and improving relevant frameworks or standards. Conclusion We classify responsibility into the following: (1) Accountability; (2) Liability; and (3) Culpability. All three aspects were addressed when discussing responsibility for AI and autonomous surgical robots, be these civil or military patients (however, these aspects may require revision in cases where robots become citizens). The component which produces the least clarity is Culpability, since it is unthinkable in the current state of technology. We envision that in the near future a surgical robot can learn and perform routine operative tasks that can then be supervised by a human surgeon. This represents a surgical parallel to autonomously driven vehicles. Here a human remains in the ‘driving seat’ as a ‘doctor‐in‐the‐loop’ thereby safeguarding patients undergoing operations that are supported by surgical machines with autonomous capabilities.

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Section: Common Criteriamentioning

confidence: 99%

“…There also exist several robots, not designed for autonomy, which are adapted for autonomous tasks (Raven, DVRK). 16…”

Section: Common Criteriamentioning

confidence: 99%

Legal, regulatory, and ethical frameworks for development of standards in artificial intelligence (AI) and autonomous robotic surgery

O’Sullivan

Nevejans

Allen

et al. 2019

Robotics Computer Surgery

Self Cite

261

150

View full text Add to dashboard Cite

show abstract

“…Due to the combination of the coarser temporal and the finer spatiotemporal control in the overall control configuration, the results presented have a broad appeal in other applications involving complex multiscale spatiotemporal dynamics, such as, for example, robotic electrosurgery [41]. In this application, the motion of the cutting probe is strongly coupled to the spatiotemporal electrosurgical impact of the latter on the target tissues, and the near-field probe-tissue interaction process is best described by a complex time-fractional PDE [42].…”

Section: Discussionmentioning

confidence: 99%

Multiresolution GPC-Structured Control of a Single-Loop Cold-Flow Chemical Looping Testbed

et al. 2020

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Chemical looping is a near-zero emission process for generating power from coal. It is based on a multi-phase gas-solid flow and has extremely challenging nonlinear, multi-scale dynamics with jumps, producing large dynamic model uncertainty, which renders traditional robust control techniques, such as linear parameter varying H ∞ design, largely inapplicable. This process complexity is addressed in the present work through the temporal and the spatiotemporal multiresolution modeling along with the corresponding model-based control laws. Namely, the nonlinear autoregressive with exogenous input model structure, nonlinear in the wavelet basis, but linear in parameters, is used to identify the dominant temporal chemical looping process dynamics. The control inputs and the wavelet model parameters are calculated by optimizing a quadratic cost function using a gradient descent method. The respective identification and tracking error convergence of the proposed self-tuning identification and control schemes, the latter using the unconstrained generalized predictive control structure, is separately ascertained through the Lyapunov stability theorem. The rate constraint on the control signal in the temporal control law is then imposed and the control topology is augmented by an additional control loop with self-tuning deadbeat controller which uses the spatiotemporal wavelet riser dynamics representation. The novelty of this work is three-fold: (1) developing the self-tuning controller design methodology that consists in embedding the real-time tunable temporal highly nonlinear, but linearly parametrizable, multiresolution system representations into the classical rate-constrained generalized predictive quadratic optimal control structure, (2) augmenting the temporal multiresolution loop by a more complex spatiotemporal multiresolution self-tuning deadbeat control loop, and (3) demonstrating the effectiveness of the proposed methodology in producing fast recursive real-time algorithms for controlling highly uncertain nonlinear multiscale processes. The latter is shown through the data from the implemented temporal and augmented spatiotemporal solutions of a difficult chemical looping cold flow tracking control problem.

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“…used the same system in a porcine model to resect squamous cell carcinoma pseudo-tumors marked with NIRF fiducials. The authors found that although resection by STAR took longer, it was able to achieve more consistently with the targeted resection than a human surgeon 42 . Completely autonomous robotic surgeons with artificial intelligence are still in the realm of science fiction.…”

Section: Other Robot Technology On the Horizonmentioning

confidence: 99%

Updates in Urologic Robot Assisted Surgery

2018

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Modern robotics is an advanced minimally invasive technology with the advantages of wristed capability, three-dimensional optics, and tremor filtration compared with conventional laparoscopy. Urologists have been early adopters of robotic surgical technology: robotics have been used in urologic oncology for more than 20 years and there has been an increasing trend for utilization in benign urologic pathology in the last couple of years. The continuing development and interest in robotics are aimed at surgical efficiency as well as patient outcomes. However, despite its advantages, improvements in haptics, system size, and cost are still desired. This article explores the current use of robotics in urology as well as future improvements on the horizon.

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Semi-autonomous electrosurgery for tumor resection using a multi-degree of freedom electrosurgical tool and visual servoing

Cited by 35 publications

References 38 publications

Legal, regulatory, and ethical frameworks for development of standards in artificial intelligence (AI) and autonomous robotic surgery

Legal, regulatory, and ethical frameworks for development of standards in artificial intelligence (AI) and autonomous robotic surgery

Multiresolution GPC-Structured Control of a Single-Loop Cold-Flow Chemical Looping Testbed

Updates in Urologic Robot Assisted Surgery

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