Toward Teaching by Demonstration for Robot-Assisted Minimally Invasive Surgery
نویسندگان
چکیده
Learning manipulation skills from open surgery provides more flexible access to the organ targets in abdomen cavity and this could make surgical robot working a highly intelligent friendly manner. Teaching by demonstration (TbD) is capable of transferring human humanoid robots employing active learning multiple demonstrated tasks. This work aims transfer motion demonstrations manipulators robot-assisted minimally invasive (RA-MIS) using TbD. However, kinematic constraint should be respected during performing learned for surgery. In article, we propose novel methodology integrating cognitive techniques developed control techniques, allowing learn senior surgeons' perform operations semiautonomous future. Finally, experiments are performed verify efficiency proposed strategy, results demonstrate ability system RA-MIS also shows that remote center (RCM) can guaranteed simultaneously. Note Practitioners-This article inspired limited laparoscopic under at point incision. Current commercial mostly operated teleoperation, which representing less autonomy on Assisting enhancing surgeon's performance increasing has fundamental importance. The technique teaching With improved interact with humans, such as flexibility compliance, new generation serial becomes popular nonclinical research. Thus, advanced strategies required functions into processes operation between robots, surgeon, (MIS). model skill execute decoupled controller respect exploiting redundancy robot. scheme following functionalities: 1) it enables 3-D modeling after tasks dynamic time warping (DTW) Gaussian mixture (GMM)-based movement primitive (DMP) 2) maintains RCM smaller safe area while RA-MIS. strategy potentially used other industrial applications similar scenario.
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ژورنال
عنوان ژورنال: IEEE Transactions on Automation Science and Engineering
سال: 2021
ISSN: ['1545-5955', '1558-3783']
DOI: https://doi.org/10.1109/tase.2020.3045655