NDLI: Human-Machine Collaborative surgery using learned models

Content Provider	IEEE Xplore Digital Library
Author	Padoy, N. Hager, G.D.
Copyright Year	2011
Description	Author affiliation: The Johns Hopkins University, Baltimore, MD, USA (Padoy, N.; Hager, G.D.)
Abstract	In the future of surgery, tele-operated robotic assistants will offer the possibility of performing certain commonly occurring tasks autonomously. Using a natural division of tasks into subtasks, we propose a novel surgical Human-Machine Collaborative (HMC) system in which portions of a surgical task are performed autonomously under complete surgeon's control, and other portions manually. Our system automatically identifies the completion of a manual subtask, seamlessly executes the next automated task, and then returns control back to the surgeon. Our approach is based on learning from demonstration. It uses Hidden Markov Models for the recognition of task completion and temporal curve averaging for learning the executed motions. We demonstrate our approach using a da Vinci tele-surgical robot. We show on two illustrative tasks where such human-machine collaboration is intuitive that automated control improves the usage of the master manipulator workspace. Because such a system does not limit the traditional use of the robot, but merely enhances its capabilities while leaving full control to the surgeon, it provides a safe and acceptable solution for surgical performance enhancement.
Starting Page	5285
Ending Page	5292
File Size	1865378
Page Count	8
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5980250
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Hidden Markov models Instruments Trajectory Robots Needles Surgery Manuals
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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