NDLI: Semi-autonomous simulated brain tumor ablation with RAVENII Surgical Robot using behavior tree

Content Provider	IEEE Xplore Digital Library
Author	Danying Hu Yuanzheng Gong Hannaford, B. Seibel, E.J.
Copyright Year	2015
Description	Author affiliation: Dept. of Electr. Eng., Univ. of Washington, Seattle, WA, USA (Danying Hu; Hannaford, B.) \|\| Dept. of Mech. Eng., Univ. of Washington, Seattle, WA, USA (Yuanzheng Gong; Seibel, E.J.)
Abstract	Medical robots have been widely used to assist surgeons to carry out dexterous surgical tasks via various ways. Most of the tasks require surgeon's operation directly or indirectly. Certain level of autonomy in robotic surgery could not only free the surgeon from some tedious repetitive tasks, but also utilize the advantages of robot: high dexterity and accuracy. This paper presents a semi-autonomous neurosurgical procedure of brain tumor ablation using RAVEN Surgical Robot and stereo visual feedback. By integrating with the behavior tree framework, the whole surgical task is modeled flexibly and intelligently as nodes and leaves of a behavior tree. This paper provides three contributions mainly: (1) describing the brain tumor ablation as an ideal candidate for autonomous robotic surgery, (2) modeling and implementing the semi-autonomous surgical task using behavior tree framework, and (3) designing an experimental simulated ablation task for feasibility study and robot performance analysis.
Starting Page	3868
Ending Page	3875
File Size	3250218
Page Count	8
File Format	PDF
e-ISBN	9781479969234
DOI	10.1109/ICRA.2015.7139738
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Tumors Surgery Solid modeling Three-dimensional displays Medical robotics Accuracy
Content Type	Text
Resource Type	Article

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