Robot-Assisted Surgery: Autonomous Tumor Localization and Extraction скачать в хорошем качестве

Robot-Assisted Surgery: Autonomous Tumor Localization and Extraction

Autonomous Tumor Localization and Extraction: Palpation, Incision, Debridement and Adhesive Closure with the da Vinci Research Kit Winner of Best Video Award at Hamlyn Surgical Robotics Symposium, London, June 2015 Affiliation: Center for Automation and Learning for Medical Robotics (Cal-MR): http://cal-mr.berkeley.edu. Center for People and Robots(CPAR), http://robotics.citris-uc.org Automation Science Lab, http://automation.berkeley.edu/ University of California, Berkeley -------------------------------------------------- Abstract: We are developing tooling and software that allows automation of subtasks for surgeons.​ ​Palpation of tissues remain a simple, yet important means by which surgeons verify the location of tumors to make precise incisions. We have created tooling and software a system to autonomously perform a multi-step surgical procedure​ involving palpation, dissection, retraction debridement and adhesive closure in a silicone tissue phantom. This video demonstrates a successful trial of the entire five-step procedure where human input is required only at four points to change tools.​ We also show failure modes of the current autonomous system and we are working on experiments to characterize the reliability of each step and on incorporating computer vision and new probing algorithms to improve robustness. -------------------------------------------------- Contributors: Stephen McKinley, Siddarth Sen, Animesh Garg, Yiming Jen, David Gealy, Pieter Abbeel, Ken Goldberg For more information contact Prof. Ken Goldberg: [email protected]