NDLI: A case study of trajectory transfer through non-rigid registration for a simplified suturing scenario

Content Provider	IEEE Xplore Digital Library
Author	Schulman, J. Gupta, A. Venkatesan, S. Tayson-Frederick, M. Abbeel, P.
Copyright Year	2013
Description	Author affiliation: Dept. of Electr. Eng. & Comput. Sci., Univ. of California at Berkeley, Berkeley, CA, USA (Schulman, J.; Gupta, A.; Venkatesan, S.; Tayson-Frederick, M.; Abbeel, P.)
Abstract	Suturing is an important yet time-consuming part of surgery. A fast and robust autonomous procedure could reduce surgeon fatigue, and shorten operation times. It could also be of particular importance for suturing in remote tele-surgery settings where latency can complicate the master-slave mode control that is the current practice for robotic surgery with systems like the da Vinci®. We study the applicability of the trajectory transfer algorithm proposed in [12] to the automation of suturing. The core idea of this procedure is to first use non-rigid registration to find a 3D warping function which maps the demonstration scene onto the test scene, then use this warping function to transform the robot end-effector trajectory. Finally a robot joint trajectory is generated by solving a trajectory optimization problem that attempts to find the closest feasible trajectory, accounting for external constraints, such as joint limits and obstacles. Our experiments investigate generalization from a single demonstration to differing initial conditions. A first set of experiments considers the problem of having a simulated Raven II system [5] suture two flaps of tissue together. A second set of experiments considers a PR2 robot performing sutures in a scaled-up experimental setup. The simulation experiments were fully autonomous. For the real-world experiments we provided human input to assist with the detection of landmarks to be fed into the registration algorithm. The success rate for learning from a single demonstration is high for moderate perturbations from the demonstration's initial conditions, and it gradually decreases for larger perturbations.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	4111
Ending Page	4117
File Size	1907902
Page Count	7
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696945
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Robots Grippers Needles Surgery Joints Three-dimensional displays
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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