EI 2024 Plenary 1: Seeing and Feeling in Robot-Assisted Surgery скачать в хорошем качестве

EI 2024 Plenary 1: Seeing and Feeling in Robot-Assisted Surgery

This plenary presentation was delivered at the Electronic Imaging Symposium held in Burlingame, CA over 21-25 January 2024. For more information see: http://www.electronicimaging.org Title: Seeing and Feeling in Robot-Assisted Surgery Abstract: Haptic devices allow touch-based information transfer between humans and their environment. In minimally invasive surgery, a human teleoperator benefits from both visual and haptic feedback regarding the interaction forces between instruments and tissues. This keynote discusses mechanisms for stable and effective haptic feedback, as well as how surgeons and autonomous systems can use visual feedback in lieu of haptic feedback. For haptic feedback, the focus is on skin deformation feedback, which provides compelling information about instrument-tissue interactions with smaller actuators and larger stability margins compared to traditional kinesthetic feedback. For visual feedback, the effect of training on human teleoperators' ability to visually estimate forces through a telesurgical robot is evaluated. In addition, the talk discusses how we design and characterize multimodal deep learning-based methods to estimate interaction forces during tissue manipulation for both automated performance evaluation and delivery of haptics-based training stimuli. Finally, the next generation of soft, flexible surgical instruments and the opportunities and challenges they present for seeing and feeling in robot-assisted surgery is described. Speaker: Allison Okamura, Richard W. Weiland Professor of Engineering, Stanford University (United States) Biography: Allison Okamura is currently a professor in the Mechanical Engineering Department at Stanford University, with a courtesy appointment in computer science. She was previously professor and vice chair of mechanical engineering at Johns Hopkins University. She is also currently the editor-in-chief of the journal IEEE Robotics and Automation Letters. Her awards include the 2020 IEEE Engineering in Medicine and Biology Society Technical Achievement Award and the 2019 IEEE Robotics and Automation Society Distinguished Service Award, among many others. She is also an IEEE Fellow. Allison received a BS from the University of California at Berkeley and MS and PhD degrees from Stanford University, all in mechanical engineering. Her academic interests include haptics, teleoperation, virtual environments and simulators, medical robotics, soft robotics, neuromechanics and rehabilitation, prosthetics, and education. Outside academia, she enjoys spending time with her husband and two children, running, and playing ice hockey. © 2024, Society for Imaging Science and Technology (IS&T)