Interfaz Multimodal para un Asistente Robótico Quirúrgico: Uso de Reconocimiento de Maniobras Quirúrgicas

This paper proposes a methodology for the recognition of surgical maneuvers in laparoscopic surgical interventions. The aim is to create an interface between the surgeon and a surgical robotic assistant for two arms of minimally invasive surgery procedures. The proposed interface receives information about the positioning of surgical tools of the surgeon using 3D sensors and the recognition system facilitates the current maneuver is completed. Therefore, the recognition system maneuvers that supports this interface requires a library of models of maneuvers to work. The models chosen to represent the surgical maneuvers are Hidden Markov Models. To validate the proposed methodology, we have developed a series of in-vitro experiments.

[1]  A.J. Viterbi.  A personal history of the Viterbi algorithm , 2006, IEEE Signal Processing Magazine.

[2]  R. E. Kalman,et al.  A New Approach to Linear Filtering and Prediction Problems , 2002 .

[3]  Blake Hannaford,et al.  The BlueDRAGON - a system for measuring the kinematics and dynamics of minimally invasive surgical tools in-vivo , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[4]  Steven E. Butner,et al.  Transforming a surgical robot for human telesurgery , 2003, IEEE Trans. Robotics Autom..

[5]  Fumio Miyazaki,et al.  FAce MOUSe: A novel human-machine interface for controlling the position of a laparoscope , 2003, IEEE Trans. Robotics Autom..

[6]  Dong-Soo Kwon,et al.  A surgical knowledge based interaction method for a laparoscopic assistant robot , 2004, RO-MAN 2004. 13th IEEE International Workshop on Robot and Human Interactive Communication (IEEE Catalog No.04TH8759).

[7]  P. A. Finlay,et al.  Controlling the movement of a surgical laparoscope , 1995 .

[8]  A. Garcia-Cerezo,et al.  A new robotic endoscope manipulator , 2001, Surgical Endoscopy.

[9]  Duygun Erol Barkana,et al.  Medical user interface for orthopedical surgical robotic system , 2010, 2010 15th National Biomedical Engineering Meeting.

[10]  Tanneguy Redarce,et al.  Mouth gesture and voice command based robot command interface , 2009, 2009 IEEE International Conference on Robotics and Automation.

[11]  L. Baum,et al.  A Maximization Technique Occurring in the Statistical Analysis of Probabilistic Functions of Markov Chains , 1970 .

[12]  T. Başar,et al.  A New Approach to Linear Filtering and Prediction Problems , 2001 .

[13]  Andreas Hein,et al.  Positioning Tasks in Multimodal Computer-Navigated Surgery , 2007, IEEE MultiMedia.

[14]  Juan Jesús Fernández Lozano,et al.  A medical robotic assistant for minimally invasive surgery , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[15]  Victor F. Muñoz,et al.  Three-layer control for active wrists in robotized laparoscopic surgery , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[16]  Blake Hannaford,et al.  Generalized approach for modeling minimally invasive surgery as a stochastic process using a discrete Markov model , 2006, IEEE Transactions on Biomedical Engineering.

[17]  Irmtraud M. Meyer.  Hidden Markov Model (HMM) , 2004 .

[18]  L. Lhotska,et al.  Speech recognition methods applied to biomedical signals processing , 2004, The 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[19]  L. Rabiner,et al.  An introduction to hidden Markov models , 1986, IEEE ASSP Magazine.

[20]  István Miklós,et al.  A linear memory algorithm for Baum-Welch training , 2005, BMC Bioinformatics.

[21]  Paolo Dario,et al.  Modelling and Evaluation of Surgical Performance Using Hidden Markov Models , 2006, IEEE Transactions on Biomedical Engineering.

[22]  S.H. Zhang,et al.  The human machine interface implementation for the robot assisted endoscopic surgery system , 2002, Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication.

[23]  J Rosen,et al.  Objective laparoscopic skills assessments of surgical residents using Hidden Markov Models based on haptic information and tool/tissue interactions. , 2001, Studies in health technology and informatics.

[24]  C. J. Harris,et al.  Comparison of two measurement fusion methods for Kalman-filter-based multisensor data fusion , 2001 .

[25]  Juan Jesús Fernández Lozano.  Robots para movimiento de la cámara en cirugía laparoscópica , 2002 .

[26]  Dong-Soo Kwon,et al.  Intelligent interaction between surgeon and laparoscopic assistant robot system , 2005, ROMAN 2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005..

[27]  Lawrence R. Rabiner,et al.  A tutorial on hidden Markov models and selected applications in speech recognition , 1989, Proc. IEEE.

[28]  Guang-Zhong Yang,et al.  Gaze contingent articulated robot control for robot assisted minimally invasive surgery , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[29]  Nikolaos V. Tsekos.  MRI-guided robotics at the U of houston: EvolvingMethodologies for interventions and surgeries , 2009, 2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[30]  Blake Hannaford,et al.  Markov modeling of minimally invasive surgery based on tool/tissue interaction and force/torque signatures for evaluating surgical skills , 2001, IEEE Transactions on Biomedical Engineering.

[31]  Chuck Wooters,et al.  Voice activation of a surgical robotic assistant. , 1997, American Journal of Surgery.

[32]  R. Satava.  Virtual reality surgical simulator , 1993, Surgical Endoscopy.