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Prediction from Expert Demonstrations for Safe Tele-surgery

International Journal of Automation and computing 2013年第6期10卷 487-497页

作者： Ashirwad Chowriappa raul wirz Aditya Reddy Ashammagari Yong Won Seo Department of Urology Roswell Park Cancer Institute Department of Computer Science and Engineering The State University of New York Department of Mechanical and Aerospace Engineering The State University of New York

In this paper, we propose a new prediction from expert demonstration （PED） methodology to improve reliability and safety in tele-surgery. Data was collected from expert （clinician） demonstrations for the procedure of trocar insertion. We encoded a set of force, torque and penetration trajectories by using a Gaussian mixture model （GMM）. A generalization of these profiles and associated parameters were retrieved by Gaussian mixture regression （GMR）. We validated the proposed methodology for tele-robotic placement of the trocar in two stages. First, we tested the efficacy of the proposed PED approach for handling transmission error and latency. Our results showed that for the average case （12% packet error and 1070 loss of packet）, a 58.8~0 improvement in performance was obtained in comparison to using an extended Kalman filter. Next, we validated the methodology for surgical assistance on 15 participants. A haptic assistance mode was devised based on the proposed PED model to assist inexperienced operators to perform the procedure. The PED model was tested for instrument deviation, penetration force and penetration depth. Preliminary study results showed that participants with PED assistance performed the task with more consistency and exerted lesser penetration force than subjects without assistance.

关键词： Expert demonstration tele-surgery robot-assisted trocar insertion Gaussian mixture surgical assistance.

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